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3,368 Commits 39 Branches 41 Tags
054883707f9b6a9cd0fae4cb72b4ca3fccc7aabf
Commit Graph
222 Commits
Author SHA1 Message Date
PAJohnson 477ca3b01f Set axis.steps_ to pos_estimate (cast to steps) when entering closed loop. 2021-05-14 01:10:32 -04:00
PAJohnson 31e525ab65 Zero out input_vel after homing sequence finds endstop. 2021-05-04 22:00:43 -04:00
PAJohnson 1dc87e8f14 Homing fixed and tested 2021-05-04 21:36:40 -04:00
riewert 03e590ae44 Fixed possible race-condition 
#550
 2021-05-04 21:18:40 -04:00
riewert ac6c565b30 Fixes 
Added an abort + error, and confirmed to naming convention.
 2021-05-04 21:18:27 -04:00
riewert 5a9bd63ed1 Set input_pos after init 2021-05-04 21:17:51 -04:00
PAJohnson db5d952a08 Fixed step callback typo, moved input_pos = steps * turns_per_step to Controller::update() 2021-04-30 22:40:29 -04:00
Paul Guenette c0a8ede93e Use pre-increment and pre-decrement for steps 2021-04-30 18:36:40 -04:00
Paul Guenette ce1782b173 Use an integer to count steps to avoid float accumulation issues 2021-04-30 18:33:21 -04:00
Oskar Weigl 26cd9ecbe9 run encoder.apply_config on successful dir_find 2021-04-13 23:29:45 -04:00
Oskar Weigl 8c4fb92e63 fix ACIM estimator source for current controller 2020-12-15 16:11:51 -08:00
Samuel Sadok d20a85187c Merge stuff into devel 2020-12-03 12:36:45 +01:00
PAJohnson 5331df8883 Merge branch 'devel' into hall-calib 2020-12-01 22:26:43 -05:00
PAJohnson 3f206be2ec Better enum name for the hall phase calibration 2020-12-01 22:18:03 -05:00
PAJohnson 39570ecbf4 Split hall calibration into polarity and offset calibration, full calibration sequence only includes hall polarity cal 2020-12-01 21:44:07 -05:00
Oskar Weigl e7ef78bcca Sample DRV fault when going to idle. Update Vds setting on DRV 2020-11-25 22:52:38 -08:00
Samuel Sadok 8765654429 fix overcurrent on arming 
The first current samples happen exactly during low side FET switches and are thus not faithful.
 2020-11-25 22:24:18 +01:00
Samuel Sadok 287dd47b8f move startup delay to fix race condition 2020-11-19 12:19:02 +01:00
Samuel Sadok 5a19799613 prevent motor arming if an error is set 2020-11-16 21:03:41 +01:00
Samuel Sadok c32cbec58c rename some of the new functions and variables 2020-11-16 21:03:23 +01:00
Samuel Sadok 6f99ce478e use rtos signals in wait_for_control_iteration 2020-11-13 18:45:49 +01:00
Oskar Weigl 5836cfb9d0 hall phase calib first pass 2020-11-07 20:59:56 -08:00
Oskar Weigl 336a8b504c hall polarity calibration 2020-11-07 16:41:51 -08:00
Oskar Weigl 7d062e9018 initial hall polarity detection algo 2020-11-06 22:59:56 -08:00
Oskar Weigl 2040447174 change all did_ grammar to past tense instead 2020-11-05 21:48:36 -08:00
Samuel Sadok 1f7815459f Merge branch 'devel' into control-loop-refactor 2020-11-03 18:34:08 +01:00
Paul Guenette 9594c477cb Read thermistors at least once at startup 2020-11-02 23:36:26 -05:00
Paul Guenette 746212191c Fix thermistor sampling 2020-10-30 21:41:28 -04:00
Paul Guenette a0e64183dd Merge branch 'timing' into devel 2020-10-30 21:29:15 -04:00
samuelsadok 16836576bd Merge pull request #507 from madcowswe/move-thermistors 
Change thermistors from top-level to Motor
 2020-10-21 10:47:31 +02:00
Samuel Sadok 7dea86666b Merge branch 'devel' into can_improvements 2020-10-16 17:18:03 +02:00
Paul Guenette 101f78dcd9 Small updates to endstops & homing 2020-10-13 22:41:37 -04:00
PAJohnson 1899fa7df5 Moved thermistors from belonging to Axis to being a part of Motor. 
Thermistor apply_config now called in Motor::apply_config()
Thermistor errors rolled into motor errors
odrivetool and GUI updated to handle change
Removed CurrentLimiter,Thermistor arrays abstraction
 2020-10-13 22:01:52 -04:00
Samuel Sadok 7fd0806d49 introduce InputPort and OutputPort, don't use NAN 
The InputPort/OutputPort infrastructure facilitates safer
data paths between components: OutputPorts store a value
and the age of the value measured in number of control loop
iterations. InputPorts can be connected to various sources,
for instance an OutputPort. InputPorts expose the values to
consumers in the form of std::optional to reflect the fact
that an InputPort can be dangling or connected to a stale
OutputPort.
 2020-09-23 16:20:21 +02:00
Paul Guenette ea84694ccb Merge branch 'devel' into can_improvements 2020-09-22 22:17:10 -04:00
Samuel Sadok 3addf6da77 Merge remote-tracking branch 'origin/devel' into control-loop-refactor 2020-09-22 12:56:00 +02:00
PAJohnson b089573fea Fix for issue where using sensorless mode with input mode VEL_RAMP would cause the motor to try and reach a very high speed at the end of the sensorless ramp 2020-09-16 23:15:00 -04:00
PAJohnson b952a5e754 Fix for high commanded currents during lockin ramp. 2020-09-10 20:55:08 -04:00
Oskar Weigl 88497ae44c Merge pull request #451 from aprgl/mechanical-brake 
Mechanical brake support
 2020-09-08 15:55:50 -07:00
Unknown 0fe1bdf42f Merge branch 'devel' into timing 2020-09-03 00:27:33 -04:00
Unknown 3c49b7f8ca Merge branch 'rc-v0.5.1' into devel 2020-09-02 20:51:13 -04:00
Unknown f691536b3c Fix DRV lock-up problem when using absolute encoders 2020-09-02 20:44:56 -04:00
Samuel Sadok 44adb60f67 make sensorless spinup transition smooth 2020-09-01 14:57:21 +02:00
Unknown ff6c18baea Add cyclic encoder estimate message 2020-08-31 21:08:58 -04:00
Unknown 083b23b8c7 In CAN, convert from pointers to ref and const ref where possible 2020-08-31 20:25:35 -04:00
Samuel Sadok 5661a3b5ed Refactor control loop. 
Please see https://github.com/madcowswe/ODrive/issues/472 for a detailed description.
 2020-09-01 00:03:01 +02:00
Shaun b61ac4c50e Merge branch 'devel' into mechanical-brake 2020-08-27 18:33:43 -07:00
Unknown deff0a4405 Merge branch 'homing_hotfix' into devel 2020-08-27 16:57:56 -04:00
Unknown 7fdaadf96e Fix Homing Offset problem due to counts -> revs change 2020-08-27 16:55:20 -04:00
Unknown 2bb990937a Add TaskTimer class 2020-08-25 21:40:24 -04:00