Jiang Han / HKC_MiniCheetah

MIT Motor FOC Control

Dependencies:   FastPWM3

Changes

RevisionDateWhoCommit message
57:7b3dec9349db 2021-10-05 jianghan1913 motor default tip
56:fe5056ac6740 2019-10-10 benkatz fixed position-sensor turn-on weirdness; ; improved output zeroing to work independent of encoder rollover angle
55:c4c9fec8539c 2019-10-04 benkatz new mini cheetah first revision;
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
5:51c6560bf624 2016-03-12 benkatz Moved InvClarke out of SVM
4:c023f7b6f462 2016-03-12 benkatz serial debugging;
3:6a0015d88d06 2016-03-09 benkatz more motter;
2:8724412ad628 2016-02-19 benkatz now uses TIM1 for PWM - makes layout for micro-on-board version much easier
1:b8bceb4daed5 2016-02-05 benkatz Added some comments, cleaned things up a bit
0:4e1c4df6aabd 2016-02-05 benkatz It works!