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140 Commits
Author SHA1 Message Date
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
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
Cam Buss fc82ed6610 Allow reversal of homing direction and ability to clear SPI Error Rate (#427) 
* clear spi_error_rate on error clear
* negative homing speed and negative endtop offset
 2020-07-01 22:50:25 +02:00
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
pjohnson e2527ec468 added torque_constant to motor config struct and interface file 
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 
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 
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. 
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 
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() 
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 
[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 
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" 
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 
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