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
35:69b24894c11d 10 hours ago benkatz minor updates default tip
34:51647c6c500d 10 days ago benkatz testing new things
33:3ab3cce8b44d 2 months ago benkatz Added firmware version number to debug stream. Fixed duty cycle mistake
32:ccac5da77844 2 months ago benkatz Firmware version 1.0.1. ; Added firmware version number to debug stream;
31:61eb6ae28215 2 months ago benkatz Fixed performance bug
30:db9081ac5658 2 months ago benkatz Broken, will come back to this;
29:0dbc822dd29a 5 months ago benkatz version on Joao's motors
28:8c7e29f719c5 5 months ago benkatz Use external oscillator
27:501fee691e0e 6 months ago benkatz Setting PWM ARR value in config file now propagates everywhere.
26:2b865c00d7e9 6 months ago 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 7 months ago benkatz Set current bandwidth from serial interface
24:58c2d7571207 7 months ago benkatz Can flush preferences multiple times now
23:2adf23ee0305 7 months ago benkatz Added bayley's flash writer
22:60276ba87ac6 7 months ago benkatz Encoder autocalibration for dc offset and harmonics
21:7d1f0a206668 8 months ago benkatz Compact version works
20:bf9ea5125d52 8 months ago benkatz Compact version works.;
19:bd10a04eedc2 9 months ago benkatz commit b4 fork; reorganizing coming
18:f1d56f4acb39 11 months ago benkatz Working CAN Torque Command for Dyno-ing;
17:3c5df2982199 11 months ago benkatz Initial CAN Import;
16:385dd470fa3f 11 months ago benkatz Switch to mbed 127 to fix CAN;
15:ef00814e38e2 11 months ago benkatz getting ready to add CAN Bus;
14:80ce59119d93 12 months ago benkatz Misc. changes. Finally fixed transforms (turns out B and C current measurements were accidentally swapped)
13:a3fa0a31b114 18 months ago benkatz fixed some dumb things;
12:c473a25f54f7 18 months ago benkatz experimental feed-forward decoupling;
11:c83b18d41e54 18 months ago benkatz summer cleaning;
10:370851e6e132 18 months ago benkatz Now featuring hobbyking startup tone!
9:d7eb815cb057 18 months ago benkatz Fixed current scaling hack
8:10ae7bc88d6e 19 months ago benkatz Multi-turn mechanical position, MA700 position sensing over SPI. Placeholder torque controller for cogging/ripple compensation;
7:dc5f27756e02 20 months ago benkatz propper svm;
6:4ee1cdc43aa8 20 months ago benkatz Switched from sinusoidal pwm to svm
5:51c6560bf624 20 months ago benkatz Moved InvClarke out of SVM
4:c023f7b6f462 20 months ago benkatz serial debugging;
3:6a0015d88d06 20 months ago benkatz more motter;
2:8724412ad628 21 months ago benkatz now uses TIM1 for PWM - makes layout for micro-on-board version much easier
1:b8bceb4daed5 21 months ago benkatz Added some comments, cleaned things up a bit
0:4e1c4df6aabd 21 months ago benkatz It works!