- overcurrent error during motor calibration (this is caused by
overshoot. For now we just ignore the current limit during motor
calibration as we did before)
- factor 2 error at encoder calibration
- set error flag if Motor::arm() is called while the brake resistor is
enabled but disarmed.
- only arm brake resistor if enabled
- auto-arm brake resistor on clear_errors()
Updated API Migration Notes
Changed Axis error that is thrown for over temp from ERROR_OVER_TEMP to ERROR_MOTOR_FAILED
Moved setting of thermistor_.motor_ = this from motor apply_config() to motor constructor
Moved motor_thermistor apply_config call from Motor to config_apply_all() in main.cpp
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
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.
The previous implementation was based on blocking calls, i.e. the
platform dependent output channel would block on a write operation and
by extension the Fibre decoder could also block when given data by an
input channel. The revised implementation in this commit is based around
a fully asynchronous (i.e. non-blocking) stream interface.
Where viable, customizations in the CubeMX code (mostly the USER
CODE sections) are moved to our own files (primarily main.cpp and
board.cpp).
This will minimize code duplication when adding a new, completely
separate instance of the CubeMX files. The USB code still contains a
large amount of customization which is not touched by this commit and
should be refactored separately later on.
The entry point is now in main.cpp (moved from the CubeMX-generated
main.c). This increases control over the boot process while also
improving code organization.
Samuel Sadok
Oskar Weigl
Matt Quick
Paul Guenette
PAJohnson
Shaun Meehan