Oskar Weigl
025fd7c59a
update ODrive thermistor beta value to 3434K
2018-11-09 14:56:51 -08:00
Oskar Weigl
b3890ef9ff
add option to keep encoder count from startup value
2018-10-30 01:13:39 -07:00
Oskar Weigl
d3a2c6a6d7
Merge branch 'devel' into configurable-stepdir
2018-10-28 15:02:34 -07:00
Oskar Weigl
b4fcb290a4
add overspeed fault
2018-10-24 23:57:42 -07:00
Oskar Weigl
1511ae1db7
use tim13 as realtime control diagnostic timebase
2018-10-24 21:56:02 -07:00
Oskar Weigl
ae30439d14
clean up commented parts
2018-10-22 21:32:20 -07:00
Oskar Weigl
209839d2a7
remve uart stepdir interlock: stepdir now takes priority
2018-10-22 21:28:15 -07:00
Oskar Weigl
b09d1e9e25
make step/dir pins configurable
2018-10-22 21:03:13 -07:00
Oskar Weigl
8aac095bfd
clean up SVM switch case style
2018-10-22 20:23:54 -07:00
Oskar Weigl
db676cead5
fix units comment in encoder.hpp
2018-10-21 17:04:24 -07:00
Oskar Weigl
3cb9a8d584
rename axis.enable_step_dir to axis.step_dir_active
2018-10-20 18:24:25 -07:00
Oskar Weigl
c702e2f7e5
fix early return in critical section entry
2018-10-11 21:52:53 -07:00
Oskar Weigl
a0cedaaf94
clean up critical section use
2018-10-07 21:09:09 -07:00
Oskar Weigl
26eb4e7765
disable PWM straight away on motor error
2018-10-07 13:12:37 -07:00
Oskar Weigl
b7d77e2ded
Merge branch 'master' into devel
2018-10-06 19:31:15 -07:00
Oskar Weigl
6dccfb28e0
update motor.resistance_calib_max_voltage to 2
2018-10-06 01:52:08 -07:00
Oskar Weigl
d29697255a
fix axis state machine jumping out of idle when there is an error
2018-10-06 01:47:36 -07:00
Oskar Weigl
85540cb1ab
move check_for_errors to inline
2018-10-06 01:39:53 -07:00
Oskar Weigl
183998d64c
odrive_main.h include scheme note
2018-10-05 23:00:57 -07:00
je310
2c5b4f93a1
Update axis.hpp
...
Added direction in the comments for the error codes to go look at the relevant hpp. When skimming the help documentation one assumes you arrive at an unhelpful error, such as ERROR_MOTOR_FAILED, when there is more information to be had.
2018-10-05 12:43:43 +01:00
Oskar Weigl
833bdde5f8
Merge pull request #253 from madcowswe/property-hooks
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Property hooks
2018-09-30 19:16:38 -07:00
Oskar Weigl
6c89460d88
Merge pull request #254 from madcowswe/fix-sincos
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Fix rounding issue in arm_cos_f32
2018-09-30 19:13:53 -07:00
Oskar Weigl
a1c8a559c5
Merge branch 'devel' into property-hooks
2018-09-30 18:55:22 -07:00
Oskar Weigl
e4f5062652
fix float rounding issue in sincos index calculation
2018-09-27 21:29:21 -07:00
Oskar Weigl
ece2921316
add and rename our own copy of arm_sin_f32 and arm_cos_f32
2018-09-27 21:18:38 -07:00
Oskar Weigl
d2e2c3a1a8
use new hooks for encoder and current control bandwidth
2018-09-25 21:34:16 -07:00
Oskar Weigl
66a717f929
add ctx, hook current controller bandwidth
2018-09-25 20:23:03 -07:00
Oskar Weigl
b0f84f7a74
update traj jason to goal_point
2018-09-24 23:30:06 -07:00
Oskar Weigl
e88abb56eb
pull in configs and enum into class for Axis and Motor, for consistency
2018-09-24 22:59:36 -07:00
Oskar Weigl
327ac51abf
rewrite cpp side of trapezoidal trajectory
2018-09-24 22:45:04 -07:00
Oskar Weigl
4b6943e401
rewrite cpp trajectory module to match python
2018-09-23 22:00:00 -07:00
Unknown
8392f69b1c
Add missing default trapTrajConfig creation
2018-09-21 18:37:46 -04:00
Unknown
4475c59c8a
Calculating A from cpss, not other way around
2018-09-20 20:27:36 -04:00
Unknown
3b931be8cf
move_to_pos uses setpoints instead of estimates. Add A_to_cpss
2018-09-20 20:25:38 -04:00
Unknown
ea510fb8e5
Revert "Support overshoot moves"
...
This reverts commit 0ea6a5a37b
2018-09-18 22:13:17 -04:00
Unknown
0ea6a5a37b
Support overshoot moves
2018-09-15 23:08:40 -04:00
Oskar Weigl
e26e93212c
first compile of new buffers
2018-09-07 19:44:00 -07:00
Unknown
97b708d12c
Put anticogging in the FF path if we're doing a controlled move
2018-09-07 18:13:39 -04:00
Unknown
c014dae5bb
Fix missing config object for trap_traj
2018-09-03 17:16:09 -04:00
Unknown
c65e7265e7
Move traj planning config to trap_traj config object
2018-09-03 17:13:14 -04:00
Unknown
f29868e844
Fix bug in C++ deceleration planning code
2018-09-02 11:32:19 -04:00
Unknown
c6b19ac75f
Deccel -> decel
2018-09-02 11:31:57 -04:00
Unknown
b22bb2ed42
Set current_setpoint_ = 0.0f during planned moves for now
2018-09-01 23:48:22 -04:00
Unknown
cd9aac7962
Force vel and current setpoints to be 0 after a planned move completes
2018-09-01 23:46:17 -04:00
Unknown
7b53d5511b
Fix compilation error, rename to accel_limit and deccel_limit
2018-09-01 23:43:47 -04:00
Unknown
03bf297bd8
Add TrapTraj to Axis and Controller. Add move_to_pos funciton
2018-09-01 23:39:31 -04:00
Unknown
4a38ed07a2
Merge remote-tracking branch 'madcowswe/devel' into TrajPlan
2018-08-31 23:45:53 -04:00
Oskar Weigl
d54d4479ac
update max inductance check to 2500uH
2018-08-27 16:09:07 -07:00
Oskar Weigl
584b73920d
fix incorrect shifting of offset during index callback
2018-08-24 20:43:28 -07:00
Unknown
14e917171d
Rename pll_vel to vel_estimate
2018-08-23 22:26:26 -04:00
Oskar Weigl
je310
Unknown