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2,240 Commits 39 Branches 41 Tags
ec2cd83f1fd4cc16dcc91ebd01d60746dabf0764
Commit Graph
575 Commits
Author SHA1 Message Date
Unknown ec2cd83f1f Add compensation term for axis debounce during homing 2019-08-24 23:48:16 -04:00
Unknown 6edb34df77 Reduce default endstop debounce to 50ms 2019-08-24 23:47:30 -04:00
Unknown 36f4dc0ada Add watchdog enable option 2019-08-24 21:50:59 -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 4ba522b139 Add pre_calibrated, enable anticogging at index search if trrue 2019-08-18 11:43:24 -04:00
Unknown 9d378f1b67 Fix bug in anticogging due to improper scaling 2019-08-18 11:13:24 -04:00
Paul Guenette c52261da6f Merge remote-tracking branch 'madcowswe/sam_nvm_fix' into RazorsEdge 2019-08-15 21:02:20 -04:00
Samuel Sadok 2658e9f053 fix NVM bug 
This bug prevented the user from saving the configuration more than
twice without rebooting.
 2019-08-13 14:02:57 +02:00
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 0ab104346f Modify vel_ramp logic slightly to be more STL-based 2019-07-09 21:31:04 +02:00
Paul Guenette cbc23de7b7 Add axis.clear_errors() function 2019-07-08 23:07:47 +02:00
Paul Guenette 1494cb333f Merge remote-tracking branch 'madcowswe/lockin-refactor' into RazorsEdge 2019-06-22 17:04:29 +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 ec27bed59a Merge branch 'devel' of https://github.com/madcowswe/ODrive into current_vel_limit 2019-06-13 11:31:32 +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
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
Oskar Weigl ce8949f774 add current limit tolerance and current lim violation error check 2019-06-02 14:53:58 -07:00
Paul Guenette 0f7337743c Add input_pos_updated var to avoid race conditions with comms thread 2019-06-01 14:08:16 +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
Oskar Weigl f57b71825f Merge branch 'master' into devel 2019-05-26 18:55:53 -07:00
Paul Guenette a4cdac52b8 Change move_incremental to use input_pos 2019-05-26 22:39:54 +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 0c270eaa61 Remove SPI_COM_FAIL error, add spi_error_rate_ to protocol 2019-05-25 21:22:07 +02:00
Paul Guenette 73fbd0d54d Try to delay SPI error counting during initialization 2019-05-25 21:11:43 +02:00
Paul Guenette 59d7bb405c Add missing encoder modes for coherent sampling 2019-05-25 20:42:26 +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
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 3dc969ad15 Merge branch 'Non-Blocking_Absolute_SPI' into RazorsEdge 2019-05-25 14:56:26 +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