Oskar Weigl
f480059905
add sub-count phase alignment offset
2018-04-27 01:27:42 -07:00
Oskar Weigl
52b179d498
working hall, suspect commutation angle noise
2018-04-27 00:26:43 -07:00
Oskar Weigl
b5a7be71df
decode hall
2018-04-26 21:31:46 -07:00
Oskar Weigl
7d6ddc96b2
update encoder during calib
2018-04-26 13:46:47 -07:00
Samuel Sadok
8b696d29e0
change pos_cpr to pos_cpr_
2018-04-23 20:10:02 -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
7d99825988
snap pll_vel to 0 to avoid jitter
2018-04-15 15:55:36 -07:00
Oskar Weigl
be50b6ee74
split set_count into linear and circular
2018-04-15 01:07:54 -07:00
Oskar Weigl
0b1bf6f278
implement circular vel pll tracking
2018-04-15 00:38:39 -07:00
Oskar Weigl
339fe59f30
make pos estimate available
2018-04-14 22:47:52 -07:00
Samuel Sadok
b4fa53c849
fix encoder offset calibration and error handling
2018-04-10 15:49:00 -07:00
Samuel Sadok
09f361de61
fix encoder offset calibration and error handling
2018-04-09 19:32:36 -07:00
Samuel Sadok
ae9a208f1f
turn error enums into flags
2018-04-06 13:12:39 -07:00
Samuel Sadok
ab698a9dce
turn error enums into flags
2018-04-05 22:27:20 -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
69e1b5331a
make encoder index search and encoder offset calibration independent
...
These two activities are now separate states of the axis state machine.
Each of them can be invoked independently at any time (provided the motor is calibrated).
2018-03-23 17:09:52 -07:00
Samuel Sadok
93d6a787cd
Merge branch 'devel' of github.com:madcowswe/ODrive into sam_refactoring
2018-03-09 16:01:18 -08:00
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
f5081352b3
refactor protocol
2018-03-08 12:56:24 -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
Samuel Sadok
b32c87df5a
[TEMP] refactoring: compile works, motors initialize as usual
2018-03-02 22:03:24 -08:00
Oskar Weigl
Samuel Sadok