mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-02-06 23:41:53 +08:00
a6587f8d8a
- overcurrent error during motor calibration (this is caused by overshoot. For now we just ignore the current limit during motor calibration as we did before) - factor 2 error at encoder calibration - set error flag if Motor::arm() is called while the brake resistor is enabled but disarmed. - only arm brake resistor if enabled - auto-arm brake resistor on clear_errors()
32 lines
890 B
C++
32 lines
890 B
C++
#ifndef __OPEN_LOOP_CONTROLLER_HPP
|
|
#define __OPEN_LOOP_CONTROLLER_HPP
|
|
|
|
#include "component.hpp"
|
|
#include <cmath>
|
|
#include <autogen/interfaces.hpp>
|
|
|
|
class OpenLoopController : public ComponentBase {
|
|
public:
|
|
void update(uint32_t timestamp) final;
|
|
|
|
// Config
|
|
float max_current_ramp_ = INFINITY; // [A/s]
|
|
float max_voltage_ramp_ = INFINITY; // [V/s]
|
|
float max_phase_vel_ramp_ = INFINITY; // [rad/s^2]
|
|
|
|
// Inputs
|
|
float target_vel_ = 0.0f;
|
|
float target_current_ = 0.0f;
|
|
float target_voltage_ = 0.0f;
|
|
float initial_phase_ = 0.0f;
|
|
|
|
// State/Outputs
|
|
uint32_t timestamp_ = 0;
|
|
OutputPort<float2D> Idq_setpoint_ = {{0.0f, 0.0f}};
|
|
OutputPort<float2D> Vdq_setpoint_ = {{0.0f, 0.0f}};
|
|
OutputPort<float> phase_ = 0.0f;
|
|
OutputPort<float> phase_vel_ = 0.0f;
|
|
OutputPort<float> total_distance_ = 0.0f;
|
|
};
|
|
|
|
#endif // __OPEN_LOOP_CONTROLLER_HPP
|