From 914ba9019ca1dd98d3412987c576f5bfbe2a60c4 Mon Sep 17 00:00:00 2001 From: Aaron de los Santos Date: Sun, 13 Jun 2021 20:43:08 -0700 Subject: [PATCH] Reflected Arduino changes in changelog --- CHANGELOG.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index 48f49a3e..43c357f5 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -27,6 +27,8 @@ Please add a note of your changes below this heading if you make a Pull Request. * Added torque mirroring to INPUT_MODE_MIRROR * `mechanical_power_bandwidth`, `electrical_power_bandwidth`, `spinout_electrical_power_threshold`, `spinout_mechanical_power_threshold` added to `controller.config` for spinout detection. * `mechanical_power` and `electrical_power` added to `controller`. +* Added autogenerated enums header file [ODriveEnums.h](../Arduino/ODriveArduino/ODriveEnums.h) for Arduino use. Created Jinja template and edited Makefile to autogenerate it. +* Added GetPosition member function in ODriveArduino class to complement existing GetVelocity, SetVelocity, and SetPosition functions. ### Changed * Step/dir performance improved! Dual axis step rates up to 250kHz have been tested @@ -55,6 +57,7 @@ Please add a note of your changes below this heading if you make a Pull Request. * Added `torque_mirror_ratio` and use it to feed-forward `controller_.torque_output` in `INPUT_MODE_MIRROR` * Accumulate integer steps in step/dir to avoid float precision errors * Circular setpoint mode must be enabled when the step/dir interface is used. +* Replaced inline enum in ODriveArduino class by including new autogenerated enum header file. ### API Migration Notes * `axis.config.turns_per_step` changed to `axis.controller.config.steps_per_circular_range`