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
4b83470bda
backport changes to ODrives older than v3.5
2020-09-22 12:56:42 +02:00
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
Paul Guenette
c764e2b286
Merge pull request #485 from madcowswe/rc-v0.5.1
...
Reset Ibus in reset_current_control
2020-09-10 19:33:43 -04:00
Unknown
4c5761c120
Reset Ibus in reset_current_control
2020-09-10 19:31:29 -04:00
Samuel Sadok
d2b469eca0
add top level HWIL test script
2020-09-09 09:14:55 +02:00
Oskar Weigl
88497ae44c
Merge pull request #451 from aprgl/mechanical-brake
...
Mechanical brake support
2020-09-08 15:55:50 -07:00
Shaun Meehan
0882c71beb
Removed apply_config and enable functions, removed automatic gpio swap, fixed readme and odrive-interface to match
2020-09-03 18:59:14 -07:00
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
89f0722654
Merge branch 'devel' into control-loop-refactor
2020-09-01 14:59:59 +02:00
Samuel Sadok
44adb60f67
make sensorless spinup transition smooth
2020-09-01 14:57:21 +02:00
PAJohnson
2f8d09fff4
Removed pos_cpr
2020-08-31 18:32:28 -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
Samuel Sadok
86be15086f
Expand Notes for Contributors
2020-08-31 23:11:11 +02:00
Samuel Sadok
95e4f3aa95
add ODrive in DFU mode to udev rules
2020-08-31 13:56:55 +02:00
Samuel Sadok
96cbe69f8a
Various DFU fixes
...
- make DFU script compatible with Python 2
- include permissions for DFU mode VID:PID in udev rules (these rules,
when missing, would result in `ValueError: The device has no langid`)
- fix `IndexError: list index out of range` that occurred when the
device was already in DFU mode
- fix `UnboundLocalError: local variable 'do_backup_config' referenced
before assignment` when DFU was started after the device was already
in DFU mode
2020-08-31 13:03:48 +02:00
Oskar Weigl
11aebb62ac
don't drop samples in sampler.py by default
2020-08-29 20:00:09 -07:00
Shaun Meehan
801bda211e
Changed the GPIO configuration for the mechanical brake to only take effect at boot
2020-08-27 22:02:25 -07:00
Shaun
b61ac4c50e
Merge branch 'devel' into mechanical-brake
2020-08-27 18:33:43 -07:00
Shaun Meehan
89bf879ff9
Added GPIO_MODE_MECH_BRAKE, removed pull-ups for outputs, updated docs, added check for GPIO_MODE_MECH_BRAKE to startup in main
2020-08-27 18:28:33 -07:00
Unknown
e9810e5014
Merge branch 'homing_hotfix' into rc-v0.5.1
2020-08-27 17:01:00 -04:00
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
Samuel Sadok
982b9f5a26
fix dump_errors
2020-08-27 01:15:16 +02:00
samuelsadok
331448170c
Merge pull request #453 from madcowswe/lowlevel-fixes
...
Fix endstop configuration, update docs.
2020-08-25 10:56:40 +02:00
Samuel Sadok
db215d1c0e
remove unused variable
2020-08-25 10:50:17 +02:00
PAJohnson
ff7dcdf55d
Make devel encoders page match rc-v0.5.1 encoders page
2020-08-24 20:53:05 -04:00
PAJohnson
faae8f5b8e
Minor cleanup to encoders documentation
2020-08-24 20:50:52 -04:00
Samuel Sadok
dc47edf450
remove test artifact
2020-08-24 18:07:03 +02:00
Samuel Sadok
2135711512
improve compatibility of dump_errors()
2020-08-24 13:58:22 +02:00
Samuel Sadok
f3fa0af5c1
Fix pullup/pulldown configuration, update docs
2020-08-24 13:00:15 +02:00
Oskar Weigl
f59c80515b
add MOTOR_ERROR_MODULATION_IS_NAN
2020-08-23 13:38:23 -07:00
PAJohnson
f52c68b3a8
Added FF terms for current control and config variables to enable them.
2020-08-21 16:52:27 -04:00
Samuel Sadok
8e15dab857
fix assert fault when config.enable_uart0 == false
2020-08-21 12:40:18 +02:00
Shaun Meehan
87ea4a423f
Updated mechanical brake support as per upstream refactor
2020-08-19 12:31:26 -07:00
Samuel Sadok
eafd49cea8
regenerate enums.py
2020-08-19 21:22:45 +02:00
Shaun
460f10842e
Merge branch 'devel' into mechanical-brake
2020-08-19 11:54:20 -07:00
samuelsadok
0e75e4c764
Merge pull request #431 from madcowswe/lowlevel-refactor
...
Lowlevel Refactor
2020-08-19 14:18:31 +02:00
Samuel Sadok
4b0a6fa478
fix HWIL tests
2020-08-19 13:57:33 +02:00
Samuel Sadok
ebec752721
Merge remote-tracking branch 'origin/devel' into lowlevel-refactor
2020-08-19 11:51:08 +02:00
Samuel Sadok
d021945686
fix compilation on GCC <= 7.x
2020-08-19 11:38:38 +02:00
Samuel Sadok
c0b1d5a0e7
annotate GPIO list
2020-08-19 11:32:22 +02:00
Shaun Meehan
ccf4b17f82
Updated changelog
2020-08-19 00:15:19 -07:00
Shaun Meehan
4f18a6be41
Merge branch 'mechanical-brake' of github.com:aprgl/ODrive into mechanical-brake
2020-08-18 23:44:54 -07:00
Shaun Meehan
46c054f3af
Mechanical Brake feature
2020-08-18 23:44:37 -07:00
Shaun Meehan
43cb91b3b1
Mechanical Brake feature
2020-08-18 23:37:44 -07:00
PAJohnson
cbecd47051
Cleaned up MotorSim classes
2020-08-18 19:44:21 -04:00
Samuel Sadok
PAJohnson
Paul Guenette
Unknown
Oskar Weigl
Shaun Meehan