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3 Commits
Author SHA1 Message Date
Samuel Sadok a6587f8d8a fix various issues 
- 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()
 2020-11-13 18:45:49 +01:00
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
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