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42 Commits
Author SHA1 Message Date
PAJohnson be2d1037e3 Fixed null pointer checks in controller.cpp 
Fixed formatting in trapTraj.hpp
Fixed how pos_setpoint is set in axis.cpp to avoid transients on startup so that it will handle circular position setpoints
More unit corrections in the docs: radians -> turns
 2020-07-27 21:26:41 -04:00
PAJohnson e1b1641d70 Changed from radians internally to units of "turns" where a full rotation is 1.0 turn 
Changed documentation to reflect the unit change
 2020-07-14 20:02:59 -04:00
PAJohnson 7ce896c2ce In encoder.*pp, XXX_estimate -> XXX_estimate_counts and XXX_est_rad -> XXX_estimate. 
Changed HWIL tests to reflect unit change
Corrected sources for position and velocity estimates elsewhere.
 2020-07-13 20:59:35 +01:00
PAJohnson e476b95536 Removed unit-conversion abiltiy for input_pos and input_vel 
Updated documentation to reflect unit change.
 2020-06-26 18:03:44 +01:00
PAJohnson c63e51f8d7 Changed docs to reflect change from CONTROL_MODE_CURRENT_CONTROL to CONTROL_MODE_TORQUE_CONTROL 2020-06-23 16:04:00 -04:00
PAJohnson 152a127d67 Merge branch 'devel' of https://github.com/madcowswe/Odrive into A_to_Nm 2020-06-23 15:59:51 -04:00
PAJohnson 7c33fa5d27 Changed docs to reflect removal of current control mode and addition of torque control mode 
Regenerated enums
changed can_test.py to reflect control mode change
modified closed_loop_test.py to pass with A->Nm change.
 2020-06-23 01:23:11 +01:00
pjohnson ceabd24582 Made changes reflecting PR comments. 
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.
 2020-06-17 13:15:36 -04:00
pjohnson d78119e29f Modified docs and communication interfaces to reflect change from A to Nm for motor control input. 
Renamed vel_integrator_current_ to vel_integrator_torque_
Removed input_current_ from controller, added input_torque_
 2020-06-16 17:10:36 -04:00
Samuel Sadok d304d4e7eb move part of documentation into the yaml file 
The following documentation is moved to odrive-interfaces.yaml:
 - Error flag documentation from troubleshooting.md
 - Axis state documentation from commands.md
 - Input mode documentation from input_modes.md
 2020-06-10 23:03:07 +02:00
Samuel Sadok a874dcbbb9 Merge branch 'devel' into feature/interface_autogen 2020-06-02 21:26:22 +02:00
camrbuss e9d636d13c Merge branch 'devel' of github.com:madcowswe/ODrive into RazorsFrozenTesting 2020-05-23 15:13:06 -06:00
Samuel Sadok da7f719283 improve naming consistency between code and fibre 
Consistent naming makes code autogeneration easier.
This commit does not claim that the exported names of the variables were
more sensible than the in-code names. However changing the exported
names can break external tools and needs to happen in a controlled and
documented way.
 2020-05-14 11:16:32 +02:00
camrbuss 573ad8f7f2 input_mode and control_mode 2020-05-08 19:44:06 -06:00
camrbuss b7ba3f11ce svd for FreeRTOS, state doc updates 2020-05-04 19:32:38 -06:00
Samuel Sadok 8cd673363c Reboot on erase_configuration(). 
This avoids unexpected behavior of a subsequent `save_configuration()`
call, since the configuration is only erased from NVM, not from RAM.
 2020-04-27 15:19:32 +02:00
camrbuss 8379c9fbdd Merge branch 'master' of github.com:camrbuss/ODrive into RazorsFrozenTesting 2020-04-25 21:46:08 -06:00
Unknown 9b2df645f9 Replace select instances of vel_setpoint by input_vel in docs 2020-04-21 20:49:18 -04:00
Unknown c2a5ce821a Add input_modes.md 2020-04-21 20:39:48 -04:00
camrbuss d2239d15b6 doc - Additional states and control modes 2020-02-27 21:39:54 -07:00
Samuel Sadok 20d7bdf8c0 update documentation 2019-09-27 18:10:24 +02:00
robopilot99 7d62ea77c0 Revise documentation to clarify tuning procedures 2019-07-25 23:03:52 -05:00
Launchpad-McQ 25e1f60e5e Update commands.md 
need to set motor.config.direction to something other than 0 (0 is the default, maybe change?) or state wont change to AXIS_STATE_SENSORLESS_CONTROL.
 2019-07-20 15:50:28 +02:00
Capo01 134cd37537 removed f from gain odrive commands 
When run in odrivetool the current commands will give a syntax error.
 2019-05-04 16:07:58 +10:00
Oskar Weigl 429d7038b1 Update commands.md 2019-04-18 17:30:20 -07:00
Oskar Weigl 1a2126385d Update commands.md 2019-03-28 15:25:12 -07:00
Oskar Weigl fd03abd433 Update commands.md 2019-03-28 15:24:05 -07:00
Oskar Weigl 30b9500083 Update commands.md 2018-10-18 22:21:28 -07:00
tobbelobb b41016eba3 Update commands.md 2018-10-18 13:29:05 +02:00
tobbelobb d24fd25cb7 Update commands.md 
Fixes typo
 2018-09-14 15:04:59 +02:00
Oskar Weigl 3f36e7df74 make docs TOC consistent 2018-09-12 01:33:00 -07:00
Oskar Weigl b3bcdd5d5e fill out sensorless guide a bit more 2018-08-29 23:56:43 -07:00
Oskar Weigl 81691eecbd Update commands.md 2018-08-14 16:44:37 -07:00
Capo01 b9424461dd Added position, velocity and current definitions 2018-08-14 19:45:53 +10:00
Oskar Weigl 417eaa6bd7 Merge branch 'master' into devel 2018-06-26 19:11:01 -07:00
Oskar Weigl be9627232c make linebreaks line up on sentences. 2018-06-25 20:44:57 -07:00
mvelado b46bb5180f Added control documentation for simple commands 2018-06-25 22:44:32 -04:00
mvelado ecac6fe2b3 Fixed documentation commands 2018-06-25 22:42:21 -04:00
mvelado 7acb0d20c7 Added clarity for different control modes 2018-06-25 22:38:21 -04:00
mvelado a8005a8ef7 Added clarity changes in documentation 2018-06-25 22:04:19 -04:00
Oskar Weigl 196d672fc0 sensorless docs WIP 2018-06-25 16:11:22 -07:00
Oskar Weigl 1294ddff1d moved docs into docs folder 2018-06-09 20:49:10 -07:00