Motor control for robots. More compact, less object-oriented revision.

Dependencies:   FastPWM3 mbed-dev-f303

Fork of Hobbyking_Cheetah_V1 by Ben Katz

Revisions of main.cpp

Revision Date Message Actions
45:aadebe074af6 2018-07-30 fixed error in float_to_uint. Honestly I'm not sure how it worked before; File  Diff  Annotate
44:efcde0af8390 2018-07-14 updating mini cheetah version; File  Diff  Annotate
43:dfb72608639c 2018-05-25 re-ordered main() so CAN powerup order doesn't break things; File  Diff  Annotate
42:738fa01b0346 2018-05-25 separated CAN stuff out of main File  Diff  Annotate
41:304ac2affb23 2018-05-24 back to normal File  Diff  Annotate
40:cd7e837b2b93 2018-05-24 joao flywheel version; File  Diff  Annotate
39:3580a907ef93 2018-05-14 derp; File  Diff  Annotate
38:67e4e1453a4b 2018-05-14 Fixed bug introduced into the calibration procedure when absolute zero offset was added File  Diff  Annotate
37:c0f352d6e8e3 2018-04-13 always samples position sensor File  Diff  Annotate
36:d88fd41f60a6 2018-03-02 updated mbed-dev to latest version, fixing 16-bit spi issues File  Diff  Annotate
34:51647c6c500d 2017-11-08 testing new things File  Diff  Annotate
32:ccac5da77844 2017-08-30 Firmware version 1.0.1. ; Added firmware version number to debug stream; File  Diff  Annotate
30:db9081ac5658 2017-08-28 Broken, will come back to this; File  Diff  Annotate
28:8c7e29f719c5 2017-06-04 Use external oscillator File  Diff  Annotate
27:501fee691e0e 2017-05-17 Setting PWM ARR value in config file now propagates everywhere. File  Diff  Annotate
26:2b865c00d7e9 2017-05-01 - 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 File  Diff  Annotate
25:f5741040c4bb 2017-04-09 Set current bandwidth from serial interface File  Diff  Annotate
24:58c2d7571207 2017-04-07 Can flush preferences multiple times now File  Diff  Annotate
23:2adf23ee0305 2017-04-05 Added bayley's flash writer File  Diff  Annotate
22:60276ba87ac6 2017-03-31 Encoder autocalibration for dc offset and harmonics File  Diff  Annotate
20:bf9ea5125d52 2017-03-02 Compact version works.; File  Diff  Annotate
19:bd10a04eedc2 2017-02-14 commit b4 fork; reorganizing coming File  Diff  Annotate
18:f1d56f4acb39 2016-12-11 Working CAN Torque Command for Dyno-ing; File  Diff  Annotate
17:3c5df2982199 2016-12-10 Initial CAN Import; File  Diff  Annotate
15:ef00814e38e2 2016-12-10 getting ready to add CAN Bus; File  Diff  Annotate
14:80ce59119d93 2016-10-31 Misc. changes. Finally fixed transforms (turns out B and C current measurements were accidentally swapped) File  Diff  Annotate
12:c473a25f54f7 2016-05-22 experimental feed-forward decoupling; File  Diff  Annotate
11:c83b18d41e54 2016-05-22 summer cleaning; File  Diff  Annotate
10:370851e6e132 2016-05-12 Now featuring hobbyking startup tone! File  Diff  Annotate
9:d7eb815cb057 2016-05-10 Fixed current scaling hack File  Diff  Annotate
8:10ae7bc88d6e 2016-04-13 Multi-turn mechanical position, MA700 position sensing over SPI. Placeholder torque controller for cogging/ripple compensation; File  Diff  Annotate
7:dc5f27756e02 2016-03-29 propper svm; File  Diff  Annotate
6:4ee1cdc43aa8 2016-03-12 Switched from sinusoidal pwm to svm File  Diff  Annotate
4:c023f7b6f462 2016-03-12 serial debugging; File  Diff  Annotate
3:6a0015d88d06 2016-03-09 more motter; File  Diff  Annotate
2:8724412ad628 2016-02-19 now uses TIM1 for PWM - makes layout for micro-on-board version much easier File  Diff  Annotate
1:b8bceb4daed5 2016-02-05 Added some comments, cleaned things up a bit File  Diff  Annotate
0:4e1c4df6aabd 2016-02-05 It works! File  Diff  Annotate