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

Dependencies:   FastPWM3 mbed-dev

Fork of Hobbyking_Cheetah_V1 by Ben Katz

Changes

RevisionDateWhoCommit message
33:3ab3cce8b44d 3 weeks agobenkatzAdded firmware version number to debug stream. Fixed duty cycle mistake default tip
32:ccac5da77844 3 weeks agobenkatzFirmware version 1.0.1. ; Added firmware version number to debug stream;
31:61eb6ae28215 3 weeks agobenkatzFixed performance bug
30:db9081ac5658 3 weeks agobenkatzBroken, will come back to this;
29:0dbc822dd29a 3 months agobenkatzversion on Joao's motors
28:8c7e29f719c5 3 months agobenkatzUse external oscillator
27:501fee691e0e 4 months agobenkatzSetting PWM ARR value in config file now propagates everywhere.
26:2b865c00d7e9 4 months agobenkatz- 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 5 months agobenkatzSet current bandwidth from serial interface
24:58c2d7571207 5 months agobenkatzCan flush preferences multiple times now
23:2adf23ee0305 5 months agobenkatzAdded bayley's flash writer
22:60276ba87ac6 5 months agobenkatzEncoder autocalibration for dc offset and harmonics
21:7d1f0a206668 6 months agobenkatzCompact version works
20:bf9ea5125d52 6 months agobenkatzCompact version works.;
19:bd10a04eedc2 7 months agobenkatzcommit b4 fork; reorganizing coming
18:f1d56f4acb39 9 months agobenkatzWorking CAN Torque Command for Dyno-ing;
17:3c5df2982199 9 months agobenkatzInitial CAN Import;
16:385dd470fa3f 9 months agobenkatzSwitch to mbed 127 to fix CAN;
15:ef00814e38e2 9 months agobenkatzgetting ready to add CAN Bus;
14:80ce59119d93 10 months agobenkatzMisc. changes. Finally fixed transforms (turns out B and C current measurements were accidentally swapped)
13:a3fa0a31b114 16 months agobenkatzfixed some dumb things;
12:c473a25f54f7 16 months agobenkatzexperimental feed-forward decoupling;
11:c83b18d41e54 16 months agobenkatzsummer cleaning;
10:370851e6e132 16 months agobenkatzNow featuring hobbyking startup tone!
9:d7eb815cb057 16 months agobenkatzFixed current scaling hack
8:10ae7bc88d6e 17 months agobenkatzMulti-turn mechanical position, MA700 position sensing over SPI. Placeholder torque controller for cogging/ripple compensation;
7:dc5f27756e02 18 months agobenkatzpropper svm;
6:4ee1cdc43aa8 18 months agobenkatzSwitched from sinusoidal pwm to svm
5:51c6560bf624 18 months agobenkatzMoved InvClarke out of SVM
4:c023f7b6f462 18 months agobenkatzserial debugging;
3:6a0015d88d06 18 months agobenkatzmore motter;
2:8724412ad628 19 months agobenkatznow uses TIM1 for PWM - makes layout for micro-on-board version much easier
1:b8bceb4daed5 19 months agobenkatzAdded some comments, cleaned things up a bit
0:4e1c4df6aabd 19 months agobenkatzIt works!