77 Commits

Author	SHA1	Message	Date
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
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