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
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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
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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
Samuel Sadok
3d710a5385
don't treat watchdog_timeout == 0 as special case
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this special treatment is now redundant with enable_watchdog
2020-05-20 11:57:04 +02:00
Samuel Sadok
e4d70a22b7
Initial implementation of interface autogenerator.
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TODO:
- write to endpoints from float (for PWM/analog input)
- ascii protocol
2020-05-14 23:05:02 +02:00
Samuel Sadok
da7f719283
improve naming consistency between code and fibre
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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.
2020-05-14 11:16:32 +02:00
Samuel Sadok
50ecdef860
move DC overcurrent/undercurrent checks to update_brake_current()
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The checks now take into account the brake current.
Expose ibus on fibre.
2020-05-05 18:16:06 +02:00
Oskar Weigl
d002a74d24
rename psu current fault levels
2020-05-01 16:37:20 -07:00
Unknown
3d2d0f0e1a
Clean up and modernize axis task_chain
2020-04-27 15:27:43 -04:00
Samuel Sadok
237a50bfc9
add step/dir input tests
2020-04-21 15:57:26 +02:00
Unknown
fb46103498
Add doctest, fix drv8301 warning
2020-03-27 21:22:04 -04:00
Unknown
f9b4c78667
Merge remote-tracking branch 'madcowswe/devel' into RazorsEdge
2020-01-30 21:30:34 -05:00
Oskar Weigl
8cbc09e168
feed watchdog on enter closed loop
2020-01-30 16:16:39 -08:00
Unknown
1bdea53ec8
Improve testability
2020-01-08 22:11:50 -05:00
Unknown
62654ed966
Fix avoid transients at startup
2020-01-01 21:38:17 -05:00
Unknown
c9d35415db
Configure motors before encoders to avoid SPI collision
2020-01-01 21:37:04 -05:00
Unknown
f127df72f1
Add stack_size vars, reduce stack usage
2019-10-26 14:28:06 -04:00
Samuel Sadok
82e8cd64fb
cosmetic changes
2019-09-27 18:01:38 +02:00
Samuel Sadok
8ce66c6ec7
change power supply limit from watts to amps
2019-09-27 18:01:33 +02:00
Samuel Sadok
c6f473936f
Merge remote-tracking branch 'origin/devel' into RazorsFrozen
2019-09-27 13:04:58 +02:00
Samuel Sadok
f8ea7d5684
[homing] make separate control mode
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[endstops] enable in all control modes
[load encoder] use load encoder more consequently
2019-09-23 12:23:27 +02:00
samuelsadok
c49e679bd9
fix bad use of memcpy
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memcpy is not guaranteed to work with overlapped memory areas, however memmove is.
Apart from the semantic difference this fixes a compiler warning and possibly previously unexplained occurrences of `ERROR_INVALID_STATE`.
2019-09-19 10:10:51 +02:00
Unknown
9e782cce7b
Revert "Formatting pass"
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This reverts commit 2b58d15d8d
2019-09-15 01:15:51 -04:00
Unknown
5a3fc8690f
Remove homing offset compensation
2019-09-09 23:18:00 -04:00
Unknown
3f4433f50d
Enable rudimentary dual-encoder support
2019-09-01 17:02:15 -04:00
Unknown
4ad2fc60a8
Reset vel_integrator_current when going into closed loop mode
2019-08-29 20:24:09 -04:00
Unknown
b880d7986e
Fix homing offset compensation per @riewert
2019-08-26 22:32:45 -04:00
Unknown
2e3768c329
Start moving casts and math functions to std::
2019-08-25 17:13:10 -04:00
Unknown
ec2cd83f1f
Add compensation term for axis debounce during homing
2019-08-24 23:48:16 -04:00
Unknown
36f4dc0ada
Add watchdog enable option
2019-08-24 21:50:59 -04:00
Unknown
2b58d15d8d
Formatting pass
2019-08-20 23:13:54 -04:00
Paul Guenette
82beb16ae5
Fix odd behaviour during homing
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Because the accelerations and velocities are so low during this phase, we were overshooting quite a bit. Also, the pos_setpoint was wrong during the calculation of the trap_traj, so it was all sorts of screwed up.
2019-08-11 15:24:35 -04:00
Paul Guenette
ca93c0e2d2
Add isHomed indicator
2019-08-11 12:30:24 -04:00
Paul Guenette
fbd7ab2738
Improve the behaviour of the HOMING sequence
2019-07-18 17:29:21 +02:00
Paul Guenette
1494cb333f
Merge remote-tracking branch 'madcowswe/lockin-refactor' into RazorsEdge
2019-06-22 17:04:29 +02:00
Ben Wang
a3755b848d
use default constructor for general lockin struct
2019-06-03 12:06:50 -04:00
Paul Guenette
e8a6698fa5
Merge branch 'devel' into RazorsEdge
2019-06-03 00:30:25 +02:00
Ben Wang
f69685df13
refactor lockin mode into separate variables for sensorless spinup, encoder calibration and general (user initiated) mode
2019-05-29 16:26:07 -04:00
Paul Guenette
12664d141d
Remove the ability to home the axis with requested_state = AXIS_HOMING
2019-05-27 17:17:20 +02:00
Paul Guenette
d95d0bc283
Fix call to input_pos_updated()
2019-05-26 22:39:37 +02:00
Paul Guenette
0d6be2869b
step callback needs to increment input_pos, not pos_setpoint
2019-05-26 19:52:46 +02:00
Paul Guenette
cf9857651e
Make Homing use input_xxx values
2019-05-25 14:54:41 +02:00
Paul Guenette
cc36edeabf
Merge branch 'anticogging_saver' into RazorsEdge
2019-05-25 14:16:46 +02:00
Paul Guenette
820fd72ae8
Merge branch 'bugfix/watchdog_fix' into RazorsEdge
2019-05-25 14:15:24 +02:00
Paul Guenette
987a14b8c7
Merge branch 'feature/63-dc-bus-limit' into RazorsEdge
2019-05-25 14:14:20 +02:00
Paul Guenette
104e4413c9
Fix input_filter integration issues
2019-05-25 14:07:44 +02:00
Paul Guenette
687cf5b877
Merge branch 'Endstops' into develop
2019-05-25 13:53:38 +02:00
Paul Guenette
2abae9034b
Change how the watchdog_reset_ value is handled
2019-05-24 23:54:38 +02:00
