Winnie Liu / Hobbyking_Cheetah_0511

modified 0511

Dependencies:   mbed-dev FastPWM3

Changes

RevisionDateWhoCommit message
65:cb3497b549e9 21 months ago WinnieLiu latest code default tip
64:fd695fb9865b 2022-03-22 WinnieLiu change setup menu;
63:5946297ba2b0 2022-03-08 WinnieLiu add CALIBRATE_OFFSET and CALIBRATE_SPEED to setup menu, and also write the value into flash memory
62:d43fcdd2d48b 2022-03-07 WinnieLiu add calibration mode
61:29371056a3de 2022-03-02 WinnieLiu add hall sensor calibration
60:f009e39e913e 2022-03-01 WinnieLiu 0301;
59:d53a7ccaae9a 2021-12-14 WinnieLiu Hobbyking_Cheetah source code; modified control law to PID position controller
58:636e46484432 2021-06-18 WinnieLiu refresh motor pid parameters after modifying on the setup menu and reload from the register
57:ae8105f28fbf 2021-06-18 WinnieLiu remove kp selection on menu
56:542e99ed5565 2021-06-18 WinnieLiu 20210618 change CAN Bus structure according to changeable kp and fixed kd;
55:b97b90d06ffa 2021-05-25 WinnieLiu modify0511
54:59575833d16f 2019-08-08 benkatz updated position for +/- 15 turns
53:e85efce8c1eb 2019-08-08 benkatz fixed CAN ID filtering bug
52:8e74c22ed89f 2019-07-21 benkatz testing gb-54;
51:6cd89bd6fcaa 2019-07-17 benkatz adding field-weakening to the user menu, switch "torque limit" to "current limit"
50:ba72df25d10f 2019-04-04 benkatz updates_for_publish;
49:83d83040ea51 2019-04-04 benkatz testing_commit;
48:74a40481740c 2019-03-03 benkatz Working on the new hardware
47:e1196a851f76 2018-12-05 benkatz albert revision;
46:2d4b1dafcfe3 2018-07-12 benkatz calibration frees up memory when done;
45:26801179208e 2018-06-27 benkatz Lots of changes, seems to have broken calibration
44:8040fa2fcb0d 2018-06-11 benkatz new drv chip working;
43:dfb72608639c 2018-05-25 benkatz re-ordered main() so CAN powerup order doesn't break things;
42:738fa01b0346 2018-05-25 benkatz separated CAN stuff out of main
41:304ac2affb23 2018-05-24 benkatz back to normal
40:cd7e837b2b93 2018-05-24 benkatz joao flywheel version;
39:3580a907ef93 2018-05-14 benkatz derp;
38:67e4e1453a4b 2018-05-14 benkatz Fixed bug introduced into the calibration procedure when absolute zero offset was added
37:c0f352d6e8e3 2018-04-13 benkatz always samples position sensor
36:d88fd41f60a6 2018-03-02 benkatz updated mbed-dev to latest version, fixing 16-bit spi issues
35:69b24894c11d 2017-11-18 benkatz minor updates
34:51647c6c500d 2017-11-08 benkatz testing new things
33:3ab3cce8b44d 2017-08-30 benkatz Added firmware version number to debug stream. Fixed duty cycle mistake
32:ccac5da77844 2017-08-30 benkatz Firmware version 1.0.1. ; Added firmware version number to debug stream;
31:61eb6ae28215 2017-08-30 benkatz Fixed performance bug
30:db9081ac5658 2017-08-28 benkatz Broken, will come back to this;
29:0dbc822dd29a 2017-06-12 benkatz version on Joao's motors
28:8c7e29f719c5 2017-06-04 benkatz Use external oscillator
27:501fee691e0e 2017-05-17 benkatz Setting PWM ARR value in config file now propagates everywhere.
26:2b865c00d7e9 2017-05-01 benkatz - Added CAN Send/Receive; - Updated to most recent MBED (Broke SPI 16-bit read/write. Hacked to work with 2 8-bit writes now); - Removed most sine/cos calculations; - Fixed sign error in autocalibration routine
25:f5741040c4bb 2017-04-09 benkatz Set current bandwidth from serial interface
24:58c2d7571207 2017-04-07 benkatz Can flush preferences multiple times now
23:2adf23ee0305 2017-04-05 benkatz Added bayley's flash writer
22:60276ba87ac6 2017-03-31 benkatz Encoder autocalibration for dc offset and harmonics
21:7d1f0a206668 2017-03-02 benkatz Compact version works
20:bf9ea5125d52 2017-03-02 benkatz Compact version works.;
19:bd10a04eedc2 2017-02-14 benkatz commit b4 fork; reorganizing coming
18:f1d56f4acb39 2016-12-11 benkatz Working CAN Torque Command for Dyno-ing;
17:3c5df2982199 2016-12-10 benkatz Initial CAN Import;
16:385dd470fa3f 2016-12-10 benkatz Switch to mbed 127 to fix CAN;
15:ef00814e38e2 2016-12-10 benkatz getting ready to add CAN Bus;
14:80ce59119d93 2016-10-31 benkatz Misc. changes. Finally fixed transforms (turns out B and C current measurements were accidentally swapped)
13:a3fa0a31b114 2016-05-22 benkatz fixed some dumb things;
12:c473a25f54f7 2016-05-22 benkatz experimental feed-forward decoupling;
11:c83b18d41e54 2016-05-22 benkatz summer cleaning;
10:370851e6e132 2016-05-12 benkatz Now featuring hobbyking startup tone!
9:d7eb815cb057 2016-05-10 benkatz Fixed current scaling hack
8:10ae7bc88d6e 2016-04-13 benkatz Multi-turn mechanical position, MA700 position sensing over SPI. Placeholder torque controller for cogging/ripple compensation;
7:dc5f27756e02 2016-03-29 benkatz propper svm;
6:4ee1cdc43aa8 2016-03-12 benkatz Switched from sinusoidal pwm to svm