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144 Commits
Author SHA1 Message Date
Aleksandr 31e601ebed Fix race condition in trap traj control 2021-11-02 15:23:42 +03:00
pbrier ef03591379 Added integrator_limit to allow prevention of integrator windup 2021-09-16 10:06:07 +02:00
Samuel Sadok d86a86a936 fix comments 2021-09-03 15:41:12 +02:00
Samuel Sadok 99713725ac Remove position setpoint reset during Motor::arm() 
The position setpoint is already set before arming in start_closed_loop_control().

This fixes https://github.com/odriverobotics/ODrive/issues/599.
 2021-09-01 20:19:54 +02:00
Paul Guenette 759c85c9e1 Rename current -> torque mode vel limit 2021-08-03 21:33:50 -04:00
Samuel Sadok a37f6c3ba3 revert CAN protocol enum to flags, remove unused variables 2021-07-27 16:51:53 +02:00
Paul Guenette 1d958b9b7d Add measured_phase variable 2021-07-26 08:58:23 -04:00
Paul Guenette a1338ac551 Input mode Tuning enhancements 2021-06-12 11:31:13 -04:00
PAJohnson b707cd870f CAN baud rate setting fix, spinout detection improvements 2021-05-13 23:21:48 -04:00
PAJohnson 678c1c9c7e Spinout detection fixes - I^2 * R compensation 2021-05-12 21:39:48 -04:00
PAJohnson 427b7b4f11 Changed step and direction handling to always require circular positioning 2021-05-05 19:43:44 -04:00
PAJohnson db5d952a08 Fixed step callback typo, moved input_pos = steps * turns_per_step to Controller::update() 2021-04-30 22:40:29 -04:00
Paul Guenette 83e09b73fc Add torque_mirror_ratio 2021-04-30 18:32:51 -04:00
Paul Guenette f2eb40b5ef Add torque FF to axis mirroring 2021-04-30 18:25:03 -04:00
PAJohnson 2622f4d8eb Fixed spinout error reset on odrive.clear_errors() 2021-04-29 23:01:44 -04:00
PAJohnson a7bed2074c Added spinout detection 2021-04-29 20:17:51 -04:00
Paul Guenette 6ff5e18c56 Update to devel 2021-01-10 15:04:50 -05:00
Paul Guenette 2f3caed851 Change how TUNING mode handles frequency, add last_error_time 2020-12-20 14:04:27 -05:00
Paul Guenette a95b259f91 Increment axis.loop_counter in controller::update 2020-12-19 23:28:06 -05:00
Paul Guenette a52ed93bb9 Add input_mode_tuning 2020-12-19 20:04:14 -05:00
Samuel Sadok c32cbec58c rename some of the new functions and variables 2020-11-16 21:03:23 +01:00
Samuel Sadok 1f7815459f Merge branch 'devel' into control-loop-refactor 2020-11-03 18:34:08 +01:00
Paul Guenette a428d08ecd Merge branch 'timing' into devel_fast 2020-10-30 21:26:31 -04:00
Samuel Sadok 7fd0806d49 introduce InputPort and OutputPort, don't use NAN 
The InputPort/OutputPort infrastructure facilitates safer
data paths between components: OutputPorts store a value
and the age of the value measured in number of control loop
iterations. InputPorts can be connected to various sources,
for instance an OutputPort. InputPorts expose the values to
consumers in the form of std::optional to reflect the fact
that an InputPort can be dangling or connected to a stale
OutputPort.
 2020-09-23 16:20:21 +02:00
Oskar Weigl fb7d1d2961 change fabsf to std abs 2020-09-04 18:27:14 -07:00
Oskar Weigl 54636c764f implement faster fmodf related functions 2020-09-03 20:03:10 -07:00
Samuel Sadok 5661a3b5ed Refactor control loop. 
Please see https://github.com/madcowswe/ODrive/issues/472 for a detailed description.
 2020-09-01 00:03:01 +02:00
Unknown 2bb990937a Add TaskTimer class 2020-08-25 21:40:24 -04:00
Samuel Sadok 8d144bd944 Merge branch 'devel' into lowlevel-refactor 2020-08-05 16:28:17 +02:00
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
Unknown 88b3ed4260 Optimize step/dir callback 2020-07-26 16:16:10 -04:00
Oskar Weigl 97469235d7 Add _src to estimate pointers 2020-07-25 20:24:55 -07:00
Samuel Sadok 938f088fc2 make axis allocation static 2020-07-21 13:02:03 +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 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 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
pjohnson a9b1841092 Added Motor::max_available_torque(). Use is to correctly determine torque limit for velocity anti-windup. 
Set default value (0.0) for current_setpoint
Units documentation
Removed unused variable thermal_torque_lim_
 2020-06-18 13:11:41 -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 653c4c327e Merge remote-tracking branch 'origin/devel' into feature/interface_autogen_merged 2020-05-22 21:27:58 +02:00
Samuel Sadok b3912d58c2 revert numerical static_cast to C style casts 
As per https://github.com/madcowswe/ODrive/pull/410#discussion_r427725994
 2020-05-20 13:26:14 +02:00
Samuel Sadok 3d07325022 remove aligned formatting of assignments 2020-05-20 12:27:28 +02:00