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8a7a5aac4de49adf08ab9cbb5ff8d1d7b8bbe993
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125 Commits
Author SHA1 Message Date
Unknown fb46103498 Add doctest, fix drv8301 warning 2020-03-27 21:22:04 -04:00
Unknown f9b4c78667 Merge remote-tracking branch 'madcowswe/devel' into RazorsEdge 2020-01-30 21:30:34 -05:00
Oskar Weigl 8cbc09e168 feed watchdog on enter closed loop 2020-01-30 16:16:39 -08:00
Unknown 1bdea53ec8 Improve testability 2020-01-08 22:11:50 -05:00
Unknown 62654ed966 Fix avoid transients at startup 2020-01-01 21:38:17 -05:00
Unknown c9d35415db Configure motors before encoders to avoid SPI collision 2020-01-01 21:37:04 -05:00
Unknown f127df72f1 Add stack_size vars, reduce stack usage 2019-10-26 14:28:06 -04:00
Samuel Sadok 82e8cd64fb cosmetic changes 2019-09-27 18:01:38 +02:00
Samuel Sadok 8ce66c6ec7 change power supply limit from watts to amps 2019-09-27 18:01:33 +02:00
Samuel Sadok c6f473936f Merge remote-tracking branch 'origin/devel' into RazorsFrozen 2019-09-27 13:04:58 +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
samuelsadok c49e679bd9 fix bad use of memcpy 
memcpy is not guaranteed to work with overlapped memory areas, however memmove is.
Apart from the semantic difference this fixes a compiler warning and possibly previously unexplained occurrences of `ERROR_INVALID_STATE`.
 2019-09-19 10:10:51 +02:00
Unknown 9e782cce7b Revert "Formatting pass" 
This reverts commit 2b58d15d8d.
 2019-09-15 01:15:51 -04:00
Unknown 5a3fc8690f Remove homing offset compensation 2019-09-09 23:18:00 -04:00
Unknown 3f4433f50d Enable rudimentary dual-encoder support 2019-09-01 17:02:15 -04:00
Unknown 4ad2fc60a8 Reset vel_integrator_current when going into closed loop mode 2019-08-29 20:24:09 -04:00
Unknown b880d7986e Fix homing offset compensation per @riewert 2019-08-26 22:32:45 -04:00
Unknown 2e3768c329 Start moving casts and math functions to std:: 2019-08-25 17:13:10 -04:00
Unknown ec2cd83f1f Add compensation term for axis debounce during homing 2019-08-24 23:48:16 -04:00
Unknown 36f4dc0ada Add watchdog enable option 2019-08-24 21:50:59 -04:00
Unknown 2b58d15d8d Formatting pass 2019-08-20 23:13:54 -04:00
Paul Guenette 82beb16ae5 Fix odd behaviour during homing 
Because the accelerations and velocities are so low during this phase, we were overshooting quite a bit.  Also, the pos_setpoint was wrong during the calculation of the trap_traj, so it was all sorts of screwed up.
 2019-08-11 15:24:35 -04:00
Paul Guenette ca93c0e2d2 Add isHomed indicator 2019-08-11 12:30:24 -04:00
Paul Guenette fbd7ab2738 Improve the behaviour of the HOMING sequence 2019-07-18 17:29:21 +02:00
Paul Guenette 1494cb333f Merge remote-tracking branch 'madcowswe/lockin-refactor' into RazorsEdge 2019-06-22 17:04:29 +02:00
Ben Wang a3755b848d use default constructor for general lockin struct 2019-06-03 12:06:50 -04:00
Paul Guenette e8a6698fa5 Merge branch 'devel' into RazorsEdge 2019-06-03 00:30:25 +02:00
Ben Wang f69685df13 refactor lockin mode into separate variables for sensorless spinup, encoder calibration and general (user initiated) mode 2019-05-29 16:26:07 -04:00
Paul Guenette 12664d141d Remove the ability to home the axis with requested_state = AXIS_HOMING 2019-05-27 17:17:20 +02:00
Paul Guenette d95d0bc283 Fix call to input_pos_updated() 2019-05-26 22:39:37 +02:00
Paul Guenette 0d6be2869b step callback needs to increment input_pos, not pos_setpoint 2019-05-26 19:52:46 +02:00
Paul Guenette cf9857651e Make Homing use input_xxx values 2019-05-25 14:54:41 +02:00
Paul Guenette cc36edeabf Merge branch 'anticogging_saver' into RazorsEdge 2019-05-25 14:16:46 +02:00
Paul Guenette 820fd72ae8 Merge branch 'bugfix/watchdog_fix' into RazorsEdge 2019-05-25 14:15:24 +02:00
Paul Guenette 987a14b8c7 Merge branch 'feature/63-dc-bus-limit' into RazorsEdge 2019-05-25 14:14:20 +02:00
Paul Guenette 104e4413c9 Fix input_filter integration issues 2019-05-25 14:07:44 +02:00
Paul Guenette 687cf5b877 Merge branch 'Endstops' into develop 2019-05-25 13:53:38 +02:00
Paul Guenette 2abae9034b Change how the watchdog_reset_ value is handled 2019-05-24 23:54:38 +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
Oskar Weigl 9af9ea0bf0 add axis_num member 2019-05-15 23:06:45 -07:00
Paul Guenette e720b5239d Fix GPIO Subscribe issues 2019-04-23 22:03:25 +02:00
Paul Guenette 1e5b82ca8b Merge branch 'devel' into Endstops 2019-04-23 21:48:43 +02:00
Paul Guenette 09a164d0ca Add dc_bus_over_power error 2019-03-25 20:52:36 +01:00
Paul Guenette 5fee14a378 Merge branch 'devel' into feature/CAN 2019-03-23 09:33:42 +01:00
Oskar Weigl e94230275e add python side enum, fix instant timout on 1st iteration 2019-03-18 21:09:46 -07:00
Oskar Weigl fe0486aa8d Merge branch 'devel' into pr/Nomadluap/316 2019-03-18 20:24:19 -07:00
Paul Guenette 0a24ce3bf9 Fix minor CppCheck warning 2019-03-17 18:35:13 +01:00
Paul Guenette 1296537582 Assign different can_node_ids to each axis by default 2019-03-08 21:53:02 +01:00
Paul Belanger 42384f3ef9 Initial implementation of comms watchdog 
- Added watchdog timeout property to Axis::Config_t:
  axis.config.watchdog_timeout

- Added axis protocol function to feed watchdog timer:
  axis.watchdog_feed()

- Axis::run_control_loop now checks for watchdog expiration.

- Ascii protocol: add support for watchdog

  - The following ASCII commands now automatically update the watchdog:
    p, v, t, c, q

  - Added a 'u' command to update the watchdog of a motor without
    modifying setpoints.

  - Updated ascii protocol documentation to reflect new commands and
    effects.

- Updated getting started guide to mention watchdog settings and
  functions in protocol.

Please note: due to unavailability of hardware at this time, I have been
unable to test this code on an Odrive.
 2019-03-06 14:40:59 -05:00
Paul Guenette 40ad2a0060 Merge branch 'devel' into feature/CAN 2019-03-01 22:56:11 +01:00