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Made changes reflecting PR comments.

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Added torque_ramp_rate to controller config.
Changed INPUT_MODE_CURRENT_RAMP to INPUT_MODE_TORQUE_RAMP for controller input mode enum.
Torque limits and current limits are now observed seperately. Torque limit is in the controller, current limit is in the motor object.
Fixed torque -> current calculation in motor_update to handle ACIM motors.
This commit is contained in:
pjohnson
2020-06-17 13:15:36 -04:00
parent d78119e29f
commit ceabd24582
9 changed files with 35 additions and 32 deletions
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tools/.vscode/launch.json
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@@ -9,7 +9,7 @@
"type": "python",
"request": "launch",
"stopOnEntry": true,
"pythonPath": "${config:python.interpreterPath}",
"pythonPath": "${command:python.pythonPath}",
"program": "${file}",
"cwd": "${workspaceRoot}",
"env": {},