Oskar Weigl
0ed2419031
update watchdog documentation
2020-10-12 19:51:53 -07:00
Valentin Martinez Gama
83e848001c
Update odrive-interface.yaml
...
Show units and default values in odrive-interface documentation.
2020-10-01 12:19:07 -05:00
Samuel Sadok
56a6da5b4b
fix documentation autogen issues
2020-09-28 11:10:17 +02:00
Oskar Weigl
f360f576b4
Merge branch 'rc-v0.5.1'
2020-09-27 16:17:35 -07:00
PAJohnson
a741177cae
Fix for issue where using sensorless mode with input mode VEL_RAMP would cause the motor to try and reach a very high speed at the end of the sensorless ramp
2020-09-16 22:42:37 -04:00
PAJohnson
6122219f87
Merge pull request #487 from madcowswe/lockin-ramp-fix
...
Fix for high commanded currents during lockin ramp
2020-09-10 19:58:52 -04:00
PAJohnson
28b40c9bd4
Fix for high commanded currents during lockin ramp.
2020-09-10 19:48:36 -04:00
Unknown
4c5761c120
Reset Ibus in reset_current_control
2020-09-10 19:31:29 -04:00
Unknown
f691536b3c
Fix DRV lock-up problem when using absolute encoders
2020-09-02 20:44:56 -04:00
Unknown
7fdaadf96e
Fix Homing Offset problem due to counts -> revs change
2020-08-27 16:55:20 -04:00
Oskar Weigl
439505c517
add link to timing diagram in low_level.cpp
2020-08-21 21:00:07 -07:00
Oskar Weigl
17860cbadd
add updated timing diagram for ODrive v3
2020-08-21 20:50:26 -07:00
Oskar Weigl
3760c7bc84
Merge branch 'rc-v0.5.0' into devel
2020-08-03 20:16:51 -07:00
PAJohnson
bf15485b3d
Merge pull request #430 from madcowswe/counts_to_rads
...
Counts to radians
The name is misleading - this PR changes the units of multiple variables from counts and counts/s to turns and turns/s. The controller inputs and gains are now encoder-agnostic.
2020-07-31 18:17:18 -04:00
PAJohnson
611d2d5021
Better style for null pointer checks
2020-07-31 18:09:52 -04:00
PAJohnson
5beb3faa83
Added null pointer checks to axis.cpp for pos_estimate_X
...
Fixed formatting
Updated CHANGELOG.md
2020-07-31 17:52:43 -04:00
Unknown
78bd5fa6e6
Merge branch 'rls_spi' into rc-v0.5.0
2020-07-31 15:35:11 -04:00
Unknown
d996f02df1
Add missing input_pos_updated call on transition to closed loop
2020-07-31 15:35:05 -04:00
Samuel Sadok
e1ffdbd33d
fix Anaconda Python detection on Windows
...
Anaconda prints version information on stderr instead of stdout.
2020-07-31 10:50:06 +02:00
PAJohnson
b63983ef5c
Fixed units for can_simple protocol and updated can HWIL test
2020-07-29 20:46:26 -04:00
PAJohnson
e0f9665d2c
Fixed units for inertia
2020-07-28 21:25:30 -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
Unknown
4787ca52bb
Merge branch 'rc-v0.5.0' into rls_spi
2020-07-28 00:36:30 -04:00
PAJohnson
0670017a25
In axis: counts_per_step to turns_per_step (broken during previous merge)
2020-07-27 21:39:57 -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
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
Oskar Weigl
d650c8caba
Update controller.hpp
2020-07-27 16:47:48 -07:00
Unknown
7d94b6c786
Fix step_cb per @PAJohnson
2020-07-27 18:20:14 -04:00
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
Oskar Weigl
af16316940
Merge branch 'devel' into counts_to_rads
2020-07-25 20:29:43 -07:00
Oskar Weigl
97469235d7
Add _src to estimate pointers
2020-07-25 20:24:55 -07:00
Samuel Sadok
4cc9b16077
Fix motor subtree being unreachable from ASCII protocol
...
When get_direct_child() was invoked on an Axis Instrospectable with the
string "motor" it instead returned an Introspectable for
"motor_thermistor".
This is because strncmp("motor", "motor_thermistor", 5) compares to 0.
2020-07-20 12:24:21 +02:00
Samuel Sadok
ff6146f055
Fix bugs in protocol code
...
- Fix incorrect use of snprintf.
- Fix TreatPacketSinkAsStreamSink::process_bytes() quitting when being passed more than 64 bytes.
Reported in https://github.com/madcowswe/ODrive/issues/438
These bugs are not known to have an effect currently but could have
one if code somewhere else is changed.
2020-07-20 12:16:34 +02:00
Samuel Sadok
deb4a68d89
remove build.sh
...
This script was used by Travis CI which got disabled in
a4e03ffd07
2020-07-20 11:12:01 +02:00
Rowan Goemans
09daacda9f
Changed bash shebang to more a general version.
2020-07-19 20:55:01 +02:00
Oskar Weigl
8c85d2fe79
Add TODOs
...
Avoid transients when entering closed loop also on Circular position mode.
Phase interpolation is snapping to hard.
2020-07-18 19:05:34 -07:00
Oskar Weigl
1808bedf1a
Fix phase_vel units
2020-07-18 19:02:28 -07:00
Rowan Goemans
1a0d6acace
- Refactored thermal and current lmiting sub-systems and introduced motor thermistor support.
...
- Added thermal errors to dump_errors call in odrivetool.
- Added function in odrivetool to set thermistor coefficients based on thermistor specs.
- Added documentation for users on how to connect and configure their own thermistors.
2020-07-17 14:09:47 +02:00
Stephen Mounioloux
06989366a5
Added pos_abs_ latch in encoder::update()
2020-07-17 13:22:11 +02:00
samuelsadok
9bf5a8df85
Merge pull request #439 from zytra/rc-v0.5.0
...
Added pos_abs_ latch in encoder::update()
2020-07-17 13:18:17 +02:00
Samuel Sadok
219c818fdd
turn version.h into version.c
...
This speeds up the build process in many cases because this file is
refreshed on every build and by making it a code file much less off the
build graph depends on it.
2020-07-16 20:57:12 +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
256a76fed2
Changed old-school variable reuse to modern style declarations
2020-07-14 18:23:30 -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
Stephen Mounioloux
bdb935ee99
Added pos_abs_ latch in encoder::update()
2020-07-13 22:03:21 -07:00
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
PAJohnson
c91baaf1ea
Merge branch 'devel' of https://github.com/madcowswe/ODrive into counts_to_rads
...
Pull devel into counts_to_rads
2020-07-13 19:30:25 +01:00
Oskar Weigl
Valentin Martinez Gama
Samuel Sadok
PAJohnson
Unknown
Rowan Goemans
Stephen Mounioloux