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41 Commits
Author SHA1 Message Date
Oskar Weigl 3760c7bc84 Merge branch 'rc-v0.5.0' into devel 2020-08-03 20:16:51 -07:00
PAJohnson b63983ef5c Fixed units for can_simple protocol and updated can HWIL test 2020-07-29 20:46:26 -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
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
Unknown 883dd27a17 Fix static in encoder.cpp, constexpr the things 2020-07-11 22:19:41 -04:00
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
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
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 b0e7dcc6fd Add support for extended CAN IDs 
Previously, coexistence with devices that use extended CAN IDs was not
possible since the ODrive would simply clip the 18 upper bits of an
extended message ID.

This adds proper support for extended CAN IDs by changing
`can_node_id` from 8 to 32 bit and introducing the new option
`can_node_id_extended`.
 2020-05-18 18:52:13 +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
Paul Guenette 1163691a4c Fix bad CAN callback for input vel and input current 2019-07-09 18:18:56 +02:00
Paul Guenette cbc23de7b7 Add axis.clear_errors() function 2019-07-08 23:07:47 +02:00
Paul Guenette d716ec9b95 Add Clear Errors function to CAN 2019-06-04 20:49:45 +02:00
Paul Guenette 7d92f5b862 Create new functions without float or offset 2019-05-28 23:04:06 +02:00
Paul Guenette 3097de703f can_getSignal should always return a float 2019-05-28 21:50:17 +02:00
Paul Guenette 1e40897c2a Fix CANSimple to use input_pos, vel, current 2019-05-25 14:52:01 +02:00
Paul Guenette 104e4413c9 Fix input_filter integration issues 2019-05-25 14:07:44 +02:00
Paul Guenette 9503a9ce29 Formatting pass on CAN files 2019-05-19 21:19:30 +02:00
Paul Guenette 850325558f Feed Axis Watchdog when receiving a valid message 2019-03-23 09:36:09 +01:00
Paul Guenette 9e5704d7e9 CAN "get" functions should look for RTR 2019-03-17 18:32:45 +01:00
Paul Guenette 1ff263a2b5 Fix missing call to Write in get_vbus_voltage 2019-03-17 18:32:14 +01:00
Paul Guenette 13e8138364 Formatting 2019-03-14 23:15:25 +01:00
Paul Guenette 603e0b1bf2 Throw a CAN error if we have duplicate node IDs 2019-03-14 21:28:58 +01:00
Paul Guenette 1a58918eaa Fix compilation error in get_16bit_val 2019-03-08 21:52:27 +01:00
Paul Guenette 9355444f07 Fix get_32bit_val call 2019-03-08 19:40:21 +01:00
Paul Guenette c38abbcc13 Check for valid axis ID before handling message... 2019-03-02 00:18:45 +01:00
Paul Guenette f9765f4d73 Add ODrive Reboot message and Get Vbus Voltage message 2019-03-02 00:18:29 +01:00
Paul Guenette bf242f13fe Add "Get Sensorless Estimates" CAN message 2019-01-31 20:11:57 +01:00
Paul Guenette f2b66ab881 Add Get IQ Message 2019-01-29 19:45:50 +01:00
Unknown 3a74ea1791 Remove undefined behaviour from float->int casts 2018-11-18 01:05:04 -05:00
Unknown 867fa5452a Add documentation for the CAN Protocol 2018-10-07 17:35:08 -04:00
Unknown 2f76d3c284 Implement can_simple 2018-10-07 13:29:18 -04:00
Unknown 3197220a1a More graceful message handling 2018-10-07 01:29:43 -04:00
Unknown 605b7d2fbf Handle CAN bus initialization failures and baud rate reinitialization 2018-10-07 00:05:53 -04:00
Unknown a59e29b591 Remove unnecessary includes 2018-10-06 21:15:02 -04:00
Unknown a4ebed742c Actually send the heartbeat message... 2018-10-06 21:14:26 -04:00
Unknown 165838ccef Change message IDs so they don't collide with test messages 2018-10-06 21:13:36 -04:00
Unknown 4fa09d6bbc Get CAN_SIMPLE to compile 2018-10-05 22:20:04 -04:00
Unknown 2431fd98c6 Start with CAN_SIMPLE protocol 2018-10-04 18:50:45 -04:00