pjohnson
ceabd24582
Made changes reflecting PR comments.
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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.
2020-06-17 13:15:36 -04:00
pjohnson
d78119e29f
Modified docs and communication interfaces to reflect change from A to Nm for motor control input.
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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
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
Unknown
6863507570
Use std::clamp instead of manual clamping in some spots
2020-05-07 18:04:27 -04:00
Samuel Sadok
90f5c1d0b1
change velocity clamping in input filter mode
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as per: https://discordapp.com/channels/369667319280173067/369678934985408524/705227337230188595
2020-05-01 16:32:09 +02:00
Unknown
a5d991e712
Clarify current_setpoint calculation
2020-04-21 20:39:39 -04:00
Unknown
574190e433
Change trap_traj timer to be more robust
2020-04-21 20:39:10 -04:00
Unknown
75808abce4
Fix merge issue with ACIM code
2020-01-01 22:13:44 -05:00
Unknown
7a756c1761
Merge branch 'devel' into RazorsEdge
2020-01-01 21:45:41 -05:00
Oskar Weigl
2a22602e82
add dirty fix for setpoint in cpr
2019-11-02 14:05:22 -07:00
Oskar Weigl
27add54b3f
move vel_ramp_enable into controller.config
2019-10-07 16:19:30 -07:00
Samuel Sadok
82e8cd64fb
cosmetic changes
2019-09-27 18:01:38 +02:00
Unknown
0153e3509a
Fix anticogging
2019-09-24 21:32:50 -04:00
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
Oskar Weigl
4015ed09dd
add ACIM autoflux
2019-09-23 00:07:45 -07:00
Oskar Weigl
c8c6f6237c
finish implementing basic ACIM control
2019-09-22 23:27:40 -07:00
Unknown
9e782cce7b
Revert "Formatting pass"
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This reverts commit 2b58d15d8d
2019-09-15 01:15:51 -04:00
Unknown
3f4433f50d
Enable rudimentary dual-encoder support
2019-09-01 17:02:15 -04:00
Unknown
e9c8eb6c03
Add mirror_ratio
2019-08-31 19:20:47 -04:00
Unknown
f4e2c3d286
Add mirror mode
2019-08-31 18:03:00 -04:00
Unknown
5df4ceda33
Add current ramping input mode
2019-08-31 17:41:32 -04:00
Unknown
2e3768c329
Start moving casts and math functions to std::
2019-08-25 17:13:10 -04:00
Unknown
63bebaa8de
Add "enable" switches for controller options
2019-08-24 21:44:23 -04:00
Unknown
2b58d15d8d
Formatting pass
2019-08-20 23:13:54 -04:00
Unknown
9d378f1b67
Fix bug in anticogging due to improper scaling
2019-08-18 11:13:24 -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
0ab104346f
Modify vel_ramp logic slightly to be more STL-based
2019-07-09 21:31:04 +02:00
Paul Guenette
7e569a2e1d
Further reduce the complexity of the limitVel algorithm
2019-06-21 21:52:10 +02:00
Paul Guenette
c861cc0b46
Make inputs to limitVel function const
2019-06-21 17:20:16 +02:00
Paul Guenette
4c623f2068
Implement better algorithm
2019-06-21 16:55:15 +02:00
Paul Guenette
544933bb44
Add a lot more velocity limiting tests, implement it
2019-06-19 23:13:20 +02:00
Paul Guenette
da27153f5e
Add unit tests for current_vel_limit (failing)
2019-06-19 22:36:40 +02:00
Yannis Chatzikonstantinou
313bd9fe9e
add check for vel_gain > 0
2019-06-14 22:53:04 +03:00
Yannis Chatzikonstantinou
cfb0e11272
add check for vel_limt == 0
2019-06-14 22:48:57 +03:00
Ioannis Chatzikonstantinou
7b232b4f8a
better naming
2019-06-13 10:31:26 +03:00
Ioannis Chatzikonstantinou
fc5022fde0
velocity limiting in current control mode
2019-06-13 10:27:07 +03:00
Paul Guenette
ec05f7e45a
Make sure the trajectory mode exits to avoid rollover issues
2019-06-03 21:07:49 +02:00
Paul Guenette
0f7337743c
Add input_pos_updated var to avoid race conditions with comms thread
2019-06-01 14:08:16 +02:00
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
a4cdac52b8
Change move_incremental to use input_pos
2019-05-26 22:39:54 +02:00
Paul Guenette
73df226fc3
Merge anti_hunt
2019-05-25 19:38:52 +02:00
Paul Guenette
05711d1eba
Bring the anti-hunt functionality back
2019-05-25 19:35:15 +02:00
Paul Guenette
9e2476ed65
Remove anticogging_valid from config for now
2019-05-25 18:20:09 +02:00
Paul Guenette
949ad66124
Fix anticogging_calibration where cpr != 3600
2019-05-25 18:07:02 +02:00
Paul Guenette
5a812701a3
Fix some merging pains with the anticogging_saver
2019-05-25 17:47:06 +02:00
pjohnson
Samuel Sadok
Unknown
Oskar Weigl
Yannis Chatzikonstantinou
Ioannis Chatzikonstantinou