57 Commits

Author	SHA1	Message	Date
Paul Guenette	12664d141d	Remove the ability to home the axis with requested_state = AXIS_HOMING	2019-05-27 17:17:20 +02:00
Paul Guenette	a4cdac52b8	Change move_incremental to use input_pos	2019-05-26 22:39:54 +02:00
Paul Guenette	73df226fc3	Merge anti_hunt	2019-05-25 19:38:52 +02:00
Paul Guenette	05711d1eba	Bring the anti-hunt functionality back	2019-05-25 19:35:15 +02:00
Paul Guenette	9e2476ed65	Remove anticogging_valid from config for now	2019-05-25 18:20:09 +02:00
Paul Guenette	949ad66124	Fix anticogging_calibration where cpr != 3600	2019-05-25 18:07:02 +02:00
Paul Guenette	5a812701a3	Fix some merging pains with the anticogging_saver	2019-05-25 17:47:06 +02:00
Paul Guenette	3fa49918c7	Merge branch 'anticogging_saver' into RazorsEdge	2019-05-25 17:45:09 +02:00
Paul Guenette	6654b3a375	Just fetch the cogging ratio every time we need it	2019-05-25 17:29:25 +02:00
Paul Guenette	dfca556185	Add anticogging config properties to protocol	2019-05-25 17:04:55 +02:00
Paul Guenette	cf9857651e	Make Homing use input_xxx values	2019-05-25 14:54:41 +02:00
Paul Guenette	eb385f0bb9	Remove set_pos_setpoint calls	2019-05-25 14:18:50 +02:00
Paul Guenette	cc36edeabf	Merge branch 'anticogging_saver' into RazorsEdge	2019-05-25 14:16:46 +02:00
Paul Guenette	104e4413c9	Fix input_filter integration issues	2019-05-25 14:07:44 +02:00
Paul Guenette	bfa4c154bc	Merge branch 'input-filter' into RazorsEdge	2019-05-25 13:58:49 +02:00
Paul Guenette	301d68adc6	Move anticogging_t into config, use a fixed size array and scale	2019-05-23 18:56:34 +02:00
Paul Guenette	1e5b82ca8b	Merge branch 'devel' into Endstops	2019-04-23 21:48:43 +02:00
Oskar Weigl	499d33d788	change to explicit pos-writing callback for trajectory updates	2019-03-19 19:47:52 -07:00
Oskar Weigl	933e3068ae	Merge branch 'devel' into input-filter	2019-03-19 18:15:52 -07:00
Oskar Weigl	9786af0a25	Merge branch 'devel' into pr/Wetmelon/259	2019-02-11 19:05:22 -08:00
Oskar Weigl	15983cc4f0	Thermal current limit with linear derating	2019-01-16 01:19:36 -08:00
Oskar Weigl	31562aca12	add voltage magnitude clamping for gimbal motors in closed loop	2019-01-15 19:44:07 -08:00
Unknown	1fc6bc90aa	Move trajectory planner handling into the input filter	2019-01-02 13:09:36 -05:00
Unknown	e6dfa54d00	Merge branch 'devel' into Endstops	2018-12-06 23:37:04 -05:00
Oskar Weigl	2df1aa9257	mass simulation style 2nd order filter works great	2018-12-02 22:07:59 -08:00
Oskar Weigl	e9082f5621	implemented pos filter, but something is wrong with overshoot and vel matching	2018-12-02 20:49:17 -08:00
Oskar Weigl	192c3260f8	refactor vel ramp mode to use new controller input handling	2018-12-02 19:08:12 -08:00
Oskar Weigl	1df442fd9d	move inertia to controller	2018-12-02 18:24:38 -08:00
Oskar Weigl	5684e14f92	fix rename redidual	2018-11-27 19:35:51 -08:00
Oskar Weigl	d9612ab534	circular position setpoint mode	2018-11-24 14:09:38 -08:00
Oskar Weigl	bbef49611a	implement vel ramp	2018-11-14 00:13:19 -08:00
Oskar Weigl	b4fcb290a4	add overspeed fault	2018-10-24 23:57:42 -07:00
Unknown	dc693ebd9c	Merge branch 'devel' into Endstops	2018-09-27 20:42:30 -04:00
Unknown	a8461c40fd	Merge branch 'devel' into TrajPlan	2018-09-27 19:45:13 -04:00
Oskar Weigl	327ac51abf	rewrite cpp side of trapezoidal trajectory	2018-09-24 22:45:04 -07:00
Unknown	12651db3f2	Use pos_setpoint_ as "current position" in incremental moves	2018-09-24 21:21:49 -04:00
Unknown	36274b98e6	Add move_incremental	2018-09-24 21:17:13 -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	9b0bc6f840	Make Endstops objects instead of structs in Axis	2018-09-08 18:25:51 -04:00
Unknown	97b708d12c	Put anticogging in the FF path if we're doing a controlled move	2018-09-07 18:13:39 -04:00
Unknown	c65e7265e7	Move traj planning config to trap_traj config object	2018-09-03 17:13:14 -04:00
Unknown	c6b19ac75f	Deccel -> decel	2018-09-02 11:31:57 -04:00
Unknown	21bdf453c3	Fix bugs in homing by actually testing and using the debugger...	2018-09-02 01:59:35 -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	41a590773f	Add axis homing function and AXIS state	2018-08-28 23:12:53 -04:00
Oskar Weigl	a94096b64d	Make subcomponent errors to always set relevant axis error; use do_checks and set_error	2018-05-10 06:56:13 -07:00