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85 Commits
Author SHA1 Message Date
Unknown f691536b3c Fix DRV lock-up problem when using absolute encoders 2020-09-02 20:44:56 -04:00
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 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 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
Samuel Sadok fb7cabef5b make all other interfaces children of ODrive 2020-05-29 10:25:06 +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 bf6d47f950 Add some missing reference & symbols 2020-05-05 21:37:47 -04:00
Samuel Sadok 4cfbb2c3e4 fix various issues with SPI encoder implementation 
- Remove logic that would inhibit error detection until the first value is received. This logic posed a risk when no encoder is connected at all.
 - check error flag in AMS mode
 - Make CUI mode work. Only tested with emulated CUI encoder.
 - only go to ready-state if a successful value was received _and_ the offset was already pre-calibrated
 - enable pull-up on MISO so that a disconnected AMS encoder can be detected
 - update encoder documentation
 2020-04-29 16:18:55 +02:00
Unknown e6f95d4d47 Make sin/cos encoder pins configurable. 2020-04-09 18:53:53 -04:00
Unknown 7a756c1761 Merge branch 'devel' into RazorsEdge 2020-01-01 21:45:41 -05:00
Unknown 4ee55aaed4 Only configure encoder SPI at startup 2020-01-01 21:37:55 -05:00
Unknown 7277592198 Set default GPIO pin for absolute encoders to pin 1 2020-01-01 21:37:31 -05:00
Unknown a4664fbf5e Merge branch 'RazorsEdge' into RazorsFrozen 2019-12-22 17:07:32 -05:00
Unknown 0642a69e1a AEAT-8800 
Adds AEAT-8800 SSI as an encoder using 16bit
 2019-10-24 16:22:44 +10:00
Oskar Weigl 1a3b6bf010 encoder can now be precalibrated without offset when using ACIM 2019-10-11 16:25:18 -07:00
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 cd304f7b78 Merge branch 'devel' into RazorsEdge 2019-08-26 07:36:26 -04:00
Unknown 2b58d15d8d Formatting pass 2019-08-20 23:13:54 -04:00
Oskar Weigl 0e9dbc36bc change ERROR_CPR_OUT_OF_RANGE to ERROR_CPR_POLEPAIRS_MISMATCH 2019-08-09 21:50:55 -07:00
Paul Guenette 0c270eaa61 Remove SPI_COM_FAIL error, add spi_error_rate_ to protocol 2019-05-25 21:22:07 +02:00
Paul Guenette 73fbd0d54d Try to delay SPI error counting during initialization 2019-05-25 21:11:43 +02:00
Paul Guenette 3fa49918c7 Merge branch 'anticogging_saver' into RazorsEdge 2019-05-25 17:45:09 +02:00
Paul Guenette 6654b3a375 Just fetch the cogging ratio every time we need it 2019-05-25 17:29:25 +02:00
Paul Guenette 3dc969ad15 Merge branch 'Non-Blocking_Absolute_SPI' into RazorsEdge 2019-05-25 14:56:26 +02:00
Paul Guenette cc36edeabf Merge branch 'anticogging_saver' into RazorsEdge 2019-05-25 14:16:46 +02:00
Paul Guenette 301d68adc6 Move anticogging_t into config, use a fixed size array and scale 2019-05-23 18:56:34 +02:00
Paul Guenette 0944595bfb Fix missing comma in encoder mode 2019-05-11 23:26:27 +02:00
Tobin Hall 9e99863eb6 Fix for hanging during configuration. 2019-05-11 23:18:58 +02:00
Tobin Hall bb7ce30ba4 Adding low pass filter to encoder read failures. Staggering SPI triggers 2019-05-11 23:17:45 +02:00
Tobin Hall 31a143a500 Fixing error code assignment. Adding SPI ready check. 2019-05-11 23:17:45 +02:00
Tobin Hall 4b29c51548 Adding preliminary support for SPI absolute encoders. 2019-05-11 23:17:45 +02:00
Paul Guenette 351ec2437a Make encoder properties read-only 2019-04-27 00:26:17 +02:00
Oskar Weigl 1761272cad add encoder offset calib debug var calib_scan_response 2019-04-01 21:22:27 -07:00
Oskar Weigl 783ff659f6 add set_linear_count function to encoder 2019-03-20 15:04:11 -07:00
Oskar Weigl 412f7962f4 reject precalibration unless encoder is ready 2019-03-11 14:41:52 -07:00
Oskar Weigl 1178bf4412 Merge branch 'devel' into preroll 2019-02-11 18:52:58 -08:00
Oskar Weigl e3785a2aa2 make index only active when required 2019-02-11 18:42:22 -08:00
Oskar Weigl 81d9b33863 add option to disable phase interpolation 2019-02-11 17:54:56 -08:00
Oskar Weigl f17c96360f push index and dir search into encoder object 2019-02-11 17:32:48 -08:00
Oskar Weigl a735adb95c rename var and add comments 2019-02-11 15:13:30 -08:00
Oskar Weigl bade43dc9c remove old overspeed check from encoder 2019-02-10 22:05:43 -08:00
Oskar Weigl 2a12c1ac61 Merge branch 'devel' into preroll 2019-02-10 20:11:18 -08:00
Oskar Weigl a86fb3e59b add coherent sampling and 1.5 cycle pwm phase advance 2019-02-01 21:01:45 -08:00
Oskar Weigl a169dd33f0 add sincos encoder input (hacky) 2019-01-29 23:17:27 -08:00
Oskar Weigl 44152147d7 add ignore_illegal_hall_state 2018-12-17 13:51:03 -08:00