Add unit tests for current_vel_limit (failing)

Firmware/MotorControl/controller.cpp

@@ -218,7 +218,7 @@ bool Controller::update(float pos_estimate, float vel_estimate, float* current_s
     if (vel_des < -vel_lim) vel_des = -vel_lim;
 
     // Check for overspeed fault (done in this module (controller) for cohesion with vel_lim)
-    if (config_.vel_limit_tolerance > 0.0f) { // 0.0f to disable
+    if (config_.vel_limit_tolerance > 0.0f) {  // 0.0f to disable
         if (fabsf(vel_estimate) > config_.vel_limit_tolerance * vel_lim) {
             set_error(ERROR_OVERSPEED);
             return false;
@@ -255,6 +255,26 @@ bool Controller::update(float pos_estimate, float vel_estimate, float* current_s
         Iq = -Ilim;
     }
 
+    // Velocity limiting in current mode
+    if (config_.control_mode < CTRL_MODE_VELOCITY_CONTROL && config_.vel_limit > 0.0f && config_.vel_gain > 0.0f) {
+        float Imax = (config_.vel_limit - fabsf(vel_estimate)) * config_.vel_gain;
+        if (Iq > 0 && Iq > Imax) {
+            limited = true;
+            if (Imax > 0) {
+                Iq = Imax;
+            } else {
+                Iq = 0;
+            }
+        } else if (Iq < 0 && Iq < -Imax) {
+            limited = true;
+            if (Imax > 0) {
+                Iq = -Imax;
+            } else {
+                Iq = 0;
+            }
+        }
+    }
+
     // Velocity integrator (behaviour dependent on limiting)
     if (config_.control_mode < CTRL_MODE_VELOCITY_CONTROL) {
         // reset integral if not in use

Firmware/Tests/test_other.cpp

@@ -0,0 +1 @@
+#include <doctest.h>

Firmware/Tests/test_runner.cpp

@@ -229,4 +229,37 @@ TEST_SUITE("delta_enc"){
         CHECK(getDelta(550, 450, cpr) == 100);
         CHECK(getDelta(450, 550, cpr) == -100);
     }
+}
+
+TEST_SUITE("velLimiter") {
+    // Velocity limiting in current mode
+    auto limitVel(float vel_limit, float vel_estimate, float vel_gain, float Iq) {
+        float Imax = (vel_limit - fabsf(vel_estimate)) * vel_gain;
+        // bool limited = false;
+        if (Iq > 0 && Iq > Imax) {
+            // limited = true;
+            if (Imax > 0) {
+                Iq = Imax;
+            } else {
+                Iq = 0;
+            }
+        } else if (Iq < 0 && Iq < -Imax) {
+            // limited = true;
+            if (Imax > 0) {
+                Iq = -Imax;
+            } else {
+                Iq = 0;
+            }
+        }
+        return Iq;
+    }
+
+    TEST_CASE("limit Vel"){
+        CHECK(limitVel(0, 0, 0, 0) == 0.0f);
+        CHECK(limitVel(1000.0f, 1.0f, 0.0f, 0.0f) == 0.0f);
+        CHECK(limitVel(1000.0f, 500.0f, 1.0f, 1.0f) == 1.0f);
+        CHECK(limitVel(1000.0f, 500.0f, 1.0f, -20.0f) == -20.0f);
+        CHECK(limitVel(1000.0f, 999.0f, 1.0f, 2.0f) == 1.0f);
+        CHECK(limitVel(1000.0f, 999.0f, 1.0f, -5.0f) == -5.0f);
+    }
 }

docs/getting-started.md

@@ -125,21 +125,16 @@ Try step 5 again
 
 
 ### Linux
-1. [Install Python 3](https://www.python.org/downloads/).
-2. Install the ODrive tools by opening a terminal and typing `pip install odrive` <kbd>Enter</kbd>
-3. Set up USB permissions
-```bash
-    echo 'SUBSYSTEM=="usb", ATTR{idVendor}=="1209", ATTR{idProduct}=="0d[0-9][0-9]", MODE="0666"' | sudo tee /etc/udev/rules.d/91-odrive.rules
-    sudo udevadm control --reload-rules
-    sudo udevadm trigger
-```
+1. [Install Python 3](https://www.python.org/downloads/). (for example, on Ubuntu, `sudo apt install python3 python3-pip`)
+2. Install the ODrive tools by opening a terminal and typing `sudo pip3 install odrive` <kbd>Enter</kbd>
+3. (needed on Ubuntu, maybe other distros too) Add odrivetool into the path, by adding `~/.local/bin/` into `~/.bash_profile`, for example by running `nano ~/.bashrc`, scrolling to the bottom, pasting `PATH=$PATH:~/.local/bin/`, and then saving and closing, and close and reopen the terminal window.
 
 ## Firmware
 **ODrive v3.5 and later**<br>
 Your board should come preflashed with firmware. If you run into problems, follow the instructions [here](odrivetool.md#device-firmware-update) on the DFU procedure before you continue.
 
 **ODrive v3.4 and earlier**<br>
-Your board does **not** come preflashed with any firmware. Follow the instructions [here](odrivetool.md#device-firmware-update) on the STP Link procedure before you continue.
+Your board does **not** come preflashed with any firmware. Follow the instructions [here](odrivetool.md#device-firmware-update) on the ST Link procedure before you continue.
 
 ## Start `odrivetool`
 To launch the main interactive ODrive tool, type `odrivetool` <kbd>Enter</kbd>. Connect your ODrive and wait for the tool to find it. Now you can, for instance type `odrv0.vbus_voltage` <kbd>Enter</kbd> to inpect the boards main supply voltage.
@@ -194,7 +189,7 @@ This is the resistance of the brake resistor. If you are not using it, you may s
  
 `odrv0.axis0.motor.config.pole_pairs`  
 This is the number of **magnet poles** in the rotor, **divided by two**. To find this, you can simply count the number of permanent magnets in the rotor, if you can see them. _Note: this is not the same as the number of coils in the stator._
-If you can't see them, try sliding a magnet around the rotor, and counting how many times it stops. This will be the number of **pole pairs**. If you use a magnetic piece of metal instead of a magnet, you will get the number of **magnet poles**.
+If you can't see them, try sliding a loose magnet in your hand around the rotor, and counting how many times it stops. This will be the number of **pole pairs**. If you use a magnetic piece of metal instead of a magnet, you will get the number of **magnet poles**.
 
 `odrv0.axis0.motor.config.motor_type`  
 This is the type of motor being used. Currently two types of motors are supported: High-current motors (`MOTOR_TYPE_HIGH_CURRENT`) and gimbal motors (`MOTOR_TYPE_GIMBAL`).