Oskar Weigl
584b73920d
fix incorrect shifting of offset during index callback
2018-08-24 20:43:28 -07:00
Unknown
14e917171d
Rename pll_vel to vel_estimate
2018-08-23 22:26:26 -04:00
Oskar Weigl
19e3c779ae
force offset cal after idx search, index now homes axis
2018-08-17 23:39:43 -07:00
Oskar Weigl
37e01b9865
move bandwith to config
2018-05-15 17:27:12 -07:00
Oskar Weigl
f1081afc7b
encoder bandwidth configurable
2018-05-15 10:31:09 -07:00
Oskar Weigl
03c7c1d43c
restore default config values
2018-05-10 14:48:48 -07:00
Oskar Weigl
0d07c71f95
push estimator updates into control loop prefix
2018-05-10 07:33:54 -07:00
Oskar Weigl
a94096b64d
Make subcomponent errors to always set relevant axis error; use do_checks and set_error
2018-05-10 06:56:13 -07:00
Samuel Sadok
d6496ca574
save offset and set default cpr to 72
2018-04-27 15:04:43 -07:00
Oskar Weigl
512ba5e603
implement interpolation
2018-04-27 02:12:35 -07:00
Oskar Weigl
f480059905
add sub-count phase alignment offset
2018-04-27 01:27:42 -07:00
Oskar Weigl
52b179d498
working hall, suspect commutation angle noise
2018-04-27 00:26:43 -07:00
Oskar Weigl
b5a7be71df
decode hall
2018-04-26 21:31:46 -07:00
Oskar Weigl
7e65609e5e
inmplement hall decoder
2018-04-26 17:17:57 -07:00
Oskar Weigl
5518d1e12d
add hall sample space
2018-04-26 13:46:47 -07:00
Samuel Sadok
8b696d29e0
change pos_cpr to pos_cpr_
2018-04-23 20:10:02 -07:00
Samuel Sadok
1f504d1d99
Merge branch 'sam_testing' into sam_oskar_testing
2018-04-21 23:11:36 -07:00
Samuel Sadok
741a51442f
split communication into multiple files
2018-04-20 23:44:55 -07:00
Oskar Weigl
be50b6ee74
split set_count into linear and circular
2018-04-15 01:07:54 -07:00
Oskar Weigl
0b1bf6f278
implement circular vel pll tracking
2018-04-15 00:38:39 -07:00
Oskar Weigl
339fe59f30
make pos estimate available
2018-04-14 22:47:52 -07:00
Samuel Sadok
ae9a208f1f
turn error enums into flags
2018-04-06 13:12:39 -07:00
Samuel Sadok
ab698a9dce
turn error enums into flags
2018-04-05 22:27:20 -07:00
Samuel Sadok
b8b483c9d6
Firmware hardening
...
- check return code of enqueue_modulation_timings
- wrap all hardware access to safety critical hardware timer registers in safety_critical_ sections. These functions like the armed-ness of each PWM output to a corresponding armed state that can only be set at start or by the user
- ensure NaN in any variables doesn't cause unpredictable behavior on the safety critical PWM outputs
2018-03-30 22:32:07 -07:00
Samuel Sadok
69e1b5331a
make encoder index search and encoder offset calibration independent
...
These two activities are now separate states of the axis state machine.
Each of them can be invoked independently at any time (provided the motor is calibrated).
2018-03-23 17:09:52 -07:00
Samuel Sadok
1f732bb0fb
fix stack overflow
2018-03-09 20:23:03 -08:00
Samuel Sadok
9486f9ed15
make stuff working again, improve state machine design, add underscore to member names
2018-03-09 13:37:07 -08:00
Samuel Sadok
97aedd46e9
Sanitize error handling and state machine, move common stuff to odrive_main.hpp
2018-03-04 15:49:48 -08:00
Samuel Sadok
b32c87df5a
[TEMP] refactoring: compile works, motors initialize as usual
2018-03-02 22:03:24 -08:00
Oskar Weigl
Unknown
Samuel Sadok