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
- 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.
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()
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.
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.
- 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.
PAJohnson
Oskar Weigl
Rowan Goemans
pjohnson
Samuel Sadok
Unknown
Paul Guenette
Alex McNabb
robopilot99
kingoflolz
Paul Belanger
Damien LaRocque
jaredairbusaerial
Jasper Galvin