Paul Guenette
5a812701a3
Fix some merging pains with the anticogging_saver
2019-05-25 17:47:06 +02:00
Paul Guenette
3fa49918c7
Merge branch 'anticogging_saver' into RazorsEdge
2019-05-25 17:45:09 +02:00
Paul Guenette
6654b3a375
Just fetch the cogging ratio every time we need it
2019-05-25 17:29:25 +02:00
Paul Guenette
dfca556185
Add anticogging config properties to protocol
2019-05-25 17:04:55 +02:00
Paul Guenette
cf9857651e
Make Homing use input_xxx values
2019-05-25 14:54:41 +02:00
Paul Guenette
eb385f0bb9
Remove set_pos_setpoint calls
2019-05-25 14:18:50 +02:00
Paul Guenette
cc36edeabf
Merge branch 'anticogging_saver' into RazorsEdge
2019-05-25 14:16:46 +02:00
Paul Guenette
104e4413c9
Fix input_filter integration issues
2019-05-25 14:07:44 +02:00
Paul Guenette
bfa4c154bc
Merge branch 'input-filter' into RazorsEdge
2019-05-25 13:58:49 +02:00
Paul Guenette
301d68adc6
Move anticogging_t into config, use a fixed size array and scale
2019-05-23 18:56:34 +02:00
Paul Guenette
1e5b82ca8b
Merge branch 'devel' into Endstops
2019-04-23 21:48:43 +02:00
Oskar Weigl
499d33d788
change to explicit pos-writing callback for trajectory updates
2019-03-19 19:47:52 -07:00
Oskar Weigl
933e3068ae
Merge branch 'devel' into input-filter
2019-03-19 18:15:52 -07:00
Oskar Weigl
9786af0a25
Merge branch 'devel' into pr/Wetmelon/259
2019-02-11 19:05:22 -08:00
Oskar Weigl
15983cc4f0
Thermal current limit with linear derating
2019-01-16 01:19:36 -08:00
Oskar Weigl
31562aca12
add voltage magnitude clamping for gimbal motors in closed loop
2019-01-15 19:44:07 -08:00
Unknown
1fc6bc90aa
Move trajectory planner handling into the input filter
2019-01-02 13:09:36 -05:00
Unknown
e6dfa54d00
Merge branch 'devel' into Endstops
2018-12-06 23:37:04 -05:00
Oskar Weigl
2df1aa9257
mass simulation style 2nd order filter works great
2018-12-02 22:07:59 -08:00
Oskar Weigl
e9082f5621
implemented pos filter, but something is wrong with overshoot and vel matching
2018-12-02 20:49:17 -08:00
Oskar Weigl
192c3260f8
refactor vel ramp mode to use new controller input handling
2018-12-02 19:08:12 -08:00
Oskar Weigl
1df442fd9d
move inertia to controller
2018-12-02 18:24:38 -08:00
Oskar Weigl
5684e14f92
fix rename redidual
2018-11-27 19:35:51 -08:00
Oskar Weigl
d9612ab534
circular position setpoint mode
2018-11-24 14:09:38 -08:00
Oskar Weigl
bbef49611a
implement vel ramp
2018-11-14 00:13:19 -08:00
Oskar Weigl
b4fcb290a4
add overspeed fault
2018-10-24 23:57:42 -07:00
Unknown
dc693ebd9c
Merge branch 'devel' into Endstops
2018-09-27 20:42:30 -04:00
Unknown
a8461c40fd
Merge branch 'devel' into TrajPlan
2018-09-27 19:45:13 -04:00
Oskar Weigl
327ac51abf
rewrite cpp side of trapezoidal trajectory
2018-09-24 22:45:04 -07:00
Unknown
12651db3f2
Use pos_setpoint_ as "current position" in incremental moves
2018-09-24 21:21:49 -04:00
Unknown
36274b98e6
Add move_incremental
2018-09-24 21:17:13 -04:00
Unknown
4475c59c8a
Calculating A from cpss, not other way around
2018-09-20 20:27:36 -04:00
Unknown
3b931be8cf
move_to_pos uses setpoints instead of estimates. Add A_to_cpss
2018-09-20 20:25:38 -04:00
Unknown
9b0bc6f840
Make Endstops objects instead of structs in Axis
2018-09-08 18:25:51 -04:00
Unknown
97b708d12c
Put anticogging in the FF path if we're doing a controlled move
2018-09-07 18:13:39 -04:00
Unknown
c65e7265e7
Move traj planning config to trap_traj config object
2018-09-03 17:13:14 -04:00
Unknown
c6b19ac75f
Deccel -> decel
2018-09-02 11:31:57 -04:00
Unknown
21bdf453c3
Fix bugs in homing by actually testing and using the debugger...
2018-09-02 01:59:35 -04:00
Unknown
b22bb2ed42
Set current_setpoint_ = 0.0f during planned moves for now
2018-09-01 23:48:22 -04:00
Unknown
cd9aac7962
Force vel and current setpoints to be 0 after a planned move completes
2018-09-01 23:46:17 -04:00
Unknown
7b53d5511b
Fix compilation error, rename to accel_limit and deccel_limit
2018-09-01 23:43:47 -04:00
Unknown
03bf297bd8
Add TrapTraj to Axis and Controller. Add move_to_pos funciton
2018-09-01 23:39:31 -04:00
Unknown
41a590773f
Add axis homing function and AXIS state
2018-08-28 23:12:53 -04:00
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
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
d864730ecc
add integrator resets to firmware
2018-04-13 18:37:39 -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
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
Paul Guenette
Oskar Weigl
Samuel Sadok