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Commit Graph
757 Commits
Author SHA1 Message Date
Oskar Weigl f360f576b4 Merge branch 'rc-v0.5.1' 2020-09-27 16:17:35 -07:00
PAJohnson a741177cae 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 22:42:37 -04:00
PAJohnson 6122219f87 Merge pull request #487 from madcowswe/lockin-ramp-fix 
Fix for high commanded currents during lockin ramp
 2020-09-10 19:58:52 -04:00
PAJohnson 28b40c9bd4 Fix for high commanded currents during lockin ramp. 2020-09-10 19:48:36 -04:00
Unknown 4c5761c120 Reset Ibus in reset_current_control 2020-09-10 19:31:29 -04:00
Unknown f691536b3c Fix DRV lock-up problem when using absolute encoders 2020-09-02 20:44:56 -04:00
Unknown 7fdaadf96e Fix Homing Offset problem due to counts -> revs change 2020-08-27 16:55:20 -04:00
Oskar Weigl 439505c517 add link to timing diagram in low_level.cpp 2020-08-21 21:00:07 -07:00
Oskar Weigl 3760c7bc84 Merge branch 'rc-v0.5.0' into devel 2020-08-03 20:16:51 -07:00
PAJohnson 611d2d5021 Better style for null pointer checks 2020-07-31 18:09:52 -04:00
PAJohnson 5beb3faa83 Added null pointer checks to axis.cpp for pos_estimate_X 
Fixed formatting
Updated CHANGELOG.md
 2020-07-31 17:52:43 -04:00
Unknown 78bd5fa6e6 Merge branch 'rls_spi' into rc-v0.5.0 2020-07-31 15:35:11 -04:00
Unknown d996f02df1 Add missing input_pos_updated call on transition to closed loop 2020-07-31 15:35:05 -04:00
PAJohnson b0700ef371 Documentation fixes for unit change 
Fixed naming, docs, and test for CAN protocol - set trap traj a per css is now set trap traj inertia
 2020-07-28 20:49:55 -04:00
Unknown 4787ca52bb Merge branch 'rc-v0.5.0' into rls_spi 2020-07-28 00:36:30 -04:00
PAJohnson 0670017a25 In axis: counts_per_step to turns_per_step (broken during previous merge) 2020-07-27 21:39:57 -04:00
PAJohnson 8fcd5e1b30 Merge branch 'devel' of https://github.com/madcowswe/ODrive into counts_to_rads 
Merge devel into counts_to_rads (turns) - conflict for the step input callback
 2020-07-27 21:36:00 -04:00
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
Oskar Weigl d650c8caba Update controller.hpp 2020-07-27 16:47:48 -07:00
Unknown 7d94b6c786 Fix step_cb per @PAJohnson 2020-07-27 18:20:14 -04:00
Unknown 88b3ed4260 Optimize step/dir callback 2020-07-26 16:16:10 -04:00
Oskar Weigl ff291ae5ec Also add _src in header 2020-07-25 20:33:41 -07:00
Oskar Weigl af16316940 Merge branch 'devel' into counts_to_rads 2020-07-25 20:29:43 -07:00
Oskar Weigl 97469235d7 Add _src to estimate pointers 2020-07-25 20:24:55 -07:00
Oskar Weigl 8c85d2fe79 Add TODOs 
Avoid transients when entering closed loop also on Circular position mode.
Phase interpolation is snapping to hard.
 2020-07-18 19:05:34 -07:00
Oskar Weigl 1808bedf1a Fix phase_vel units 2020-07-18 19:02:28 -07:00
Rowan Goemans 1a0d6acace - Refactored thermal and current lmiting sub-systems and introduced motor thermistor support. 
- Added thermal errors to dump_errors call in odrivetool.
- Added function in odrivetool to set thermistor coefficients based on thermistor specs.
- Added documentation for users on how to connect and configure their own thermistors.
 2020-07-17 14:09:47 +02:00
Stephen Mounioloux 06989366a5 Added pos_abs_ latch in encoder::update() 2020-07-17 13:22:11 +02:00
samuelsadok 9bf5a8df85 Merge pull request #439 from zytra/rc-v0.5.0 
Added pos_abs_ latch in encoder::update()
 2020-07-17 13:18:17 +02:00
Samuel Sadok 219c818fdd turn version.h into version.c 
This speeds up the build process in many cases because this file is
refreshed on every build and by making it a code file much less off the
build graph depends on it.
 2020-07-16 20:57:12 +02:00
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 256a76fed2 Changed old-school variable reuse to modern style declarations 2020-07-14 18:23:30 -04:00
PAJohnson a2626889c5 Added pos_circular_ to Encoder for tracking position in a circular space 
Corrected docs as they relate to unit changes
Added pos_estimate_linear and pos_estimate_circular to Controller and eliminated pointer switching logic in Controller::select_encoder()
 2020-07-14 17:22:39 -04:00
Stephen Mounioloux bdb935ee99 Added pos_abs_ latch in encoder::update() 2020-07-13 22:03:21 -07:00
PAJohnson 9d5b2bc6d8 Changed conditions and sources of wrapping for the circular setpoint feature as it related to this unit change. setpoints_in_cpr is still not exposed as an endpoint due to implementation changes when input_mode was introduced. 2020-07-13 23:31:57 +01:00
PAJohnson aa79b7ebe0 Merge branch 'counts_to_rads' of https://github.com/madcowswe/ODrive into counts_to_rads 2020-07-13 21:05:41 +01:00
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 c91baaf1ea Merge branch 'devel' of https://github.com/madcowswe/ODrive into counts_to_rads 
Pull devel into counts_to_rads
 2020-07-13 19:30:25 +01:00
Samuel Sadok 7fade2b95a add filter to the reported <odrv>.ibus 2020-07-13 16:00:33 +02:00
Unknown 883dd27a17 Fix static in encoder.cpp, constexpr the things 2020-07-11 22:19:41 -04:00
Oskar Weigl 4b01f54afb Revert "Un-removed custom setter for input_pos_" 
This reverts commit 744bfeb110.
 2020-07-11 15:43:07 -07:00
PAJohnson ca7928774f Merge branch 'devel' of https://github.com/madcowswe/ODrive into counts_to_rads 
Merging recent devel changes into branch
 2020-07-06 20:02:47 +01:00
Cam Buss 2571ab308d Allow reversal of homing direction and ability to clear SPI Error Rate (#427) 
* clear spi_error_rate on error clear
* negative homing speed and negative endtop offset
 2020-07-01 22:53:17 +02:00
Cam Buss fc82ed6610 Allow reversal of homing direction and ability to clear SPI Error Rate (#427) 
* clear spi_error_rate on error clear
* negative homing speed and negative endtop offset
 2020-07-01 22:50:25 +02:00
PAJohnson 744bfeb110 Un-removed custom setter for input_pos_ 
removed explicit casts where variables would be promoted anyway
 2020-06-26 19:48:21 +01:00
PAJohnson 193dddad00 Removed commented line in controller.hpp 
Added missing ')' to closed_loop_test.py
Invalid enum definitions in uart_ascii_test.py fixed.
 2020-06-26 18:37:22 +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 9faf46ad47 Changed from counts->radians internally. By default, input positions and velocities are also in radians. 
Added multipliers for input pos/vel to allow users to define their own units for those inputs.
 2020-06-25 21:39:20 +01:00
Unknown a9b90eb11a Add RLS SPI encoder (single-turn) 2020-06-24 20:34:44 -04:00
PAJohnson 98e9d730f4 Added "shadow" variables for counts_to_rads. Controller::update() tested and working with radian inputs. 2020-06-24 21:40:10 +01:00