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93 Commits
Author SHA1 Message Date
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
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
Oskar Weigl d650c8caba Update controller.hpp 2020-07-27 16:47:48 -07:00
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
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 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
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
Oskar Weigl 4b01f54afb Revert "Un-removed custom setter for input_pos_" 
This reverts commit 744bfeb110.
 2020-07-11 15:43:07 -07:00
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
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
PAJohnson e5ace9ecc8 Changed default values of vel_gain, vel_integrator_gain and torque_constant to work with ODrive branded motors. 
Changed units in comments from A to Nm where appropriate.
 2020-06-18 18:32:24 -04:00
PAJohnson f19f57779b Changed vel_gain, vel_integrator_gain and torque_constant to work out of the box with ODrive branded motors. 
Removed unused variable torque_lim_margin
Changed default value of torque_lim to +inf
 2020-06-18 18:27:19 -04:00
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
pjohnson e2527ec468 added torque_constant to motor config struct and interface file 
changed all instances of current_setpoint to torque_setpoint
modified limitVel() to use torque instead of current units
removed effective_current_lim, added effective_torque_lim()
added torque_lim to motor config struct and interface file
 2020-06-16 15:55:18 -04:00
Samuel Sadok fb7cabef5b make all other interfaces children of ODrive 2020-05-29 10:25:06 +02:00
Samuel Sadok 653c4c327e Merge remote-tracking branch 'origin/devel' into feature/interface_autogen_merged 2020-05-22 21:27:58 +02:00
Samuel Sadok 3d07325022 remove aligned formatting of assignments 2020-05-20 12:27:28 +02:00
Samuel Sadok a5fd9dbeff make explicit c_is_class a requirement 
remove inheritance from config
 2020-05-15 16:32:27 +02:00
Samuel Sadok e4d70a22b7 Initial implementation of interface autogenerator. 
TODO:
 - write to endpoints from float (for PWM/analog input)
 - ascii protocol
 2020-05-14 23:05:02 +02:00
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
Unknown 574190e433 Change trap_traj timer to be more robust 2020-04-21 20:39:10 -04:00
Unknown 37ee8ae184 Fix compile errors 2020-01-01 22:13:08 -05:00
Unknown 7a756c1761 Merge branch 'devel' into RazorsEdge 2020-01-01 21:45:41 -05:00
Oskar Weigl 27add54b3f move vel_ramp_enable into controller.config 2019-10-07 16:19:30 -07:00
Unknown 970f740963 Fix fibre definitions formatting & remove AlignConsecutiveAssignments 2019-09-27 22:14:08 -04:00
Samuel Sadok 82e8cd64fb cosmetic changes 2019-09-27 18:01:38 +02:00
Samuel Sadok f8ea7d5684 [homing] make separate control mode 
[endstops] enable in all control modes
[load encoder] use load encoder more consequently
 2019-09-23 12:23:27 +02:00
Unknown 9e782cce7b Revert "Formatting pass" 
This reverts commit 2b58d15d8d.
 2019-09-15 01:15:51 -04:00
Unknown 3f4433f50d Enable rudimentary dual-encoder support 2019-09-01 17:02:15 -04:00
Unknown e9c8eb6c03 Add mirror_ratio 2019-08-31 19:20:47 -04:00
Unknown f4e2c3d286 Add mirror mode 2019-08-31 18:03:00 -04:00
Unknown 5df4ceda33 Add current ramping input mode 2019-08-31 17:41:32 -04:00
Unknown 63bebaa8de Add "enable" switches for controller options 2019-08-24 21:44:23 -04:00
Unknown 2b58d15d8d Formatting pass 2019-08-20 23:13:54 -04:00
Unknown 4ba522b139 Add pre_calibrated, enable anticogging at index search if trrue 2019-08-18 11:43:24 -04:00
Paul Guenette ec05f7e45a Make sure the trajectory mode exits to avoid rollover issues 2019-06-03 21:07:49 +02:00
Paul Guenette 0f7337743c Add input_pos_updated var to avoid race conditions with comms thread 2019-06-01 14:08:16 +02:00
Paul Guenette 73df226fc3 Merge anti_hunt 2019-05-25 19:38:52 +02:00
Paul Guenette 05711d1eba Bring the anti-hunt functionality back 2019-05-25 19:35:15 +02:00
Paul Guenette 9e2476ed65 Remove anticogging_valid from config for now 2019-05-25 18:20:09 +02:00
Paul Guenette 5a812701a3 Fix some merging pains with the anticogging_saver 2019-05-25 17:47:06 +02:00
Paul Guenette 3fa49918c7 Merge branch 'anticogging_saver' into RazorsEdge 2019-05-25 17:45:09 +02:00
Paul Guenette dfca556185 Add anticogging config properties to protocol 2019-05-25 17:04:55 +02:00