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404 Commits
Author SHA1 Message Date
Oskar Weigl f360f576b4 Merge branch 'rc-v0.5.1' 2020-09-27 16:17:35 -07:00
Oskar Weigl 57ce391d39 update enter_dfu_mode error string 2020-08-24 18:33:46 -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 d586194955 Split closed loop test from can_test.py into integration_test.py 2020-07-30 20:05:58 -04:00
PAJohnson db41fe9a29 Added closed loop test to CAN HWIL test 
Fixed ascii protocol docs: current -> torque
 2020-07-30 18:16:56 -04:00
Samuel Sadok a0bf270141 fix version.py 
version_str_to_tuple() was misbehaved if evaluated on a raw commit hash
that contains only decimal digits.

See https://github.com/madcowswe/ODrive/runs/920754951
 2020-07-30 15:55:53 +02:00
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
Samuel Sadok d0984f03de HWIL tests: tolerate more sin/cos encoder noise 2020-07-28 17:15:55 +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
Oskar Weigl af16316940 Merge branch 'devel' into counts_to_rads 2020-07-25 20:29:43 -07:00
Rowan Goemans 09daacda9f Changed bash shebang to more a general version. 2020-07-19 20:55:01 +02:00
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
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 cba7d79124 Merge branch 'devel' of https://github.com/madcowswe/ODrive into counts_to_rads 2020-07-14 17:13:36 -04:00
Samuel Sadok d54384c4c8 fix TestRegenProtection (again) 2020-07-14 16:59:13 +02:00
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 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
Unknown b58d169acc CTRL_MODE --> CONTROL_MODE in utils.py 2020-07-10 16:30:37 -04:00
samuelsadok be8cdb9cc4 Merge branch 'devel' into plotting_improvements 2020-07-08 11:34:43 +02:00
PAJohnson ca7928774f Merge branch 'devel' of https://github.com/madcowswe/ODrive into counts_to_rads 
Merging recent devel changes into branch
 2020-07-06 20:02:47 +01:00
Kyle Bartholomew 400727e337 Fixed call to old function name 2020-06-30 22:54:32 -07:00
Samuel Sadok b794178f0e fix HWIL tests 2020-06-30 15:18:35 +02:00
Kyle Bartholomew a673a50b43 Replace pandas with numpy, fixed naming, added plot title 2020-06-29 21:40:56 -07:00
PAJohnson 193dddad00 Removed commented line in controller.hpp 
Added missing ')' to closed_loop_test.py
Invalid enum definitions in uart_ascii_test.py fixed.
 2020-06-26 18:37:22 +01:00
PAJohnson e476b95536 Removed unit-conversion abiltiy for input_pos and input_vel 
Updated documentation to reflect unit change.
 2020-06-26 18:03:44 +01:00
PAJohnson f4a9636df4 Modified tests for counts->rad conversion, all passing on my test rig (PJ) 2020-06-25 23:06:28 +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 ea99feaeb9 Accidentally commented out some encoder tests, fixed. 2020-06-23 22:25:19 +01:00
PAJohnson 152a127d67 Merge branch 'devel' of https://github.com/madcowswe/Odrive into A_to_Nm 2020-06-23 15:59:51 -04:00
PAJohnson 57d67290bb Merge issue, reverted to previous serial-number 2020-06-23 19:15:01 +01:00
PAJohnson 6d60a534a5 Merge branch 'devel' of https://github.com/madcowswe/ODrive into devel 2020-06-23 19:12:38 +01:00
PAJohnson 110a97688b Found pinout typo in test-rig-rpi.yaml for teensy<->odrive encoder pins. 
Modified encoder_test.py to work with correct test rig pin mapping
 2020-06-23 18:36:18 +01:00
PAJohnson fa1cf2553f Added test for torque limit - TestTorqueLimit() 2020-06-23 03:46:45 +01:00
PAJohnson 7c33fa5d27 Changed docs to reflect removal of current control mode and addition of torque control mode 
Regenerated enums
changed can_test.py to reflect control mode change
modified closed_loop_test.py to pass with A->Nm change.
 2020-06-23 01:23:11 +01:00
PAJohnson cc87e4e6a8 Raised current limit from 10A to 15A for regen test. Previously, a motor overcurrent error was triggered ~50% of the time during the braking test. 2020-06-23 00:34:33 +01:00
PAJohnson 52b805b2ee Merge remote-tracking branch 'upstream/devel' into A_to_Nm 2020-06-22 18:33:42 -04:00
PAJohnson 2937e5bd27 Modified tolerances to work on different test rig 2020-06-22 23:30:56 +01:00
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
Samuel Sadok 6380c2b201 add fibre HWIL tests 2020-06-10 14:05:52 +02:00
Samuel Sadok 61bc1322d1 Add help text for missing dependencies 2020-06-10 13:20:17 +02:00
Samuel Sadok f7c8a6ea94 Merge remote-tracking branch 'origin/devel' into feature/interface_autogen 2020-06-10 13:01:15 +02:00
Kyle Bartholomew e3a314eb34 Added support for velocity step and made function modular for other modes 2020-06-06 12:25:40 -07:00
Kyle Bartholomew 140a11a569 Added new helpers to shell 2020-06-05 22:04:02 -07:00
Kyle Bartholomew 8c9ba4651c Removed test print statement 2020-06-05 21:53:58 -07:00
Kyle Bartholomew ebef9950cc Remove Mac specific changes to prep for pull request 2020-06-05 21:52:19 -07:00