Add input_mode_tuning

Firmware/MotorControl/controller.cpp

@@ -199,6 +199,12 @@ bool Controller::update() {
             }
             anticogging_pos_estimate = pos_setpoint_; // FF the position setpoint instead of the pos_estimate
         } break;
+        case INPUT_MODE_TUNING: {
+            const auto time = axis_->loop_counter_ * current_meas_period;
+            pos_setpoint_ = autotuning_.pos_amplitude * our_arm_sin_f32((2.0f * M_PI * autotuning_.pos_frequency) * time + autotuning_.pos_phase);
+            vel_setpoint_ = autotuning_.vel_amplitude * our_arm_sin_f32((2.0f * M_PI * autotuning_.vel_frequency) * time + autotuning_.vel_phase);
+            torque_setpoint_ = autotuning_.torque_amplitude * our_arm_sin_f32((2.0f * M_PI * autotuning_.torque_frequency) * time + autotuning_.torque_phase);
+        } break;
         default: {
             set_error(ERROR_INVALID_INPUT_MODE);
             return false;

Firmware/MotorControl/controller.hpp

@@ -3,7 +3,7 @@
 
 class Controller : public ODriveIntf::ControllerIntf {
 public:
-    typedef struct {
+    struct Anticogging_t {
         uint32_t index = 0;
         float cogging_map[3600];
         bool pre_calibrated = false;
@@ -12,7 +12,19 @@ public:
         float calib_vel_threshold = 1.0f;
         float cogging_ratio = 1.0f;
         bool anticogging_enabled = true;
-    } Anticogging_t;
+    };
+
+    struct Autotuning_t {
+        float pos_amplitude = 0.0f;
+        float pos_frequency = 0.0f;
+        float pos_phase = 0.0f;
+        float vel_amplitude = 0.0f;
+        float vel_frequency = 0.0f;
+        float vel_phase = 0.0f;
+        float torque_amplitude = 0.0f;
+        float torque_frequency = 0.0f;
+        float torque_phase = 0.0f;
+    };
 
     struct Config_t {
         ControlMode control_mode = CONTROL_MODE_POSITION_CONTROL;  //see: ControlMode_t
@@ -92,6 +104,8 @@ public:
     float input_filter_kp_ = 0.0f;
     float input_filter_ki_ = 0.0f;
 
+    Autotuning_t autotuning_;
+
     bool input_pos_updated_ = false;
     
     bool trajectory_done_ = true;

Firmware/odrive-interface.yaml

@@ -896,6 +896,18 @@ interfaces:
               calib_vel_threshold: float32
               cogging_ratio: readonly float32
               anticogging_enabled: bool
+      autotuning:
+        c_is_class: False
+        attributes:
+          pos_amplitude: float32
+          pos_frequency: float32
+          pos_phase: float32
+          vel_amplitude: float32
+          vel_frequency: float32
+          vel_phase: float32
+          torque_amplitude: float32
+          torque_frequency: float32
+          torque_phase: float32
     functions:
       move_incremental:
         doc: Moves the axes' goal point by a specified increment.
@@ -1347,6 +1359,12 @@ valuetypes:
 
           ### Valid Control modes
           * `CONTROL_MODE_POSITION_CONTROL`
+      Tuning:
+        brief: Implements a tuning mode
+        doc: |
+          Used for tuning your odrive, this mode allows the user to set different frequencies.
+          Set control_mode for the loop you want to tune, then set the frequency desired.
+          The ODrive will send a 1 turn amplitude sine wave to the controller with the given frequency and phase.
 
   ODrive.Motor.MotorType:
     values:

tools/odrive/enums.py

@@ -64,6 +64,7 @@ INPUT_MODE_MIX_CHANNELS                  = 4
 INPUT_MODE_TRAP_TRAJ                     = 5
 INPUT_MODE_TORQUE_RAMP                   = 6
 INPUT_MODE_MIRROR                        = 7
+INPUT_MODE_TUNING                        = 8
 
 # ODrive.Motor.MotorType
 MOTOR_TYPE_HIGH_CURRENT                  = 0