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Merged
PawelKorsak merged 6 commits into from
Jan 30, 2025
Merged

Release candidate 1.5.2 #27

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ab70586
feat: added support for DUAL_RLS mode and MD-hs
jakubmatyszczak Sep 25, 2024
3cc0cfb
fix: version bump
jakubmatyszczak Sep 25, 2024
6419e46
feat: updated Encoder types
jakubmatyszczak Jan 29, 2025
9f24af4
fix: candle version bump
PawelKorsak Jan 30, 2025
0a02254
fix: configs changed to match new encoder name
PawelKorsak Jan 30, 2025
48dca9c
Merge branch 'main' into release_candidate_1.5.2
PawelKorsak Jan 30, 2025
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3 changes: 2 additions & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,7 +1,8 @@
cmake_minimum_required(VERSION 3.5)
set(CMAKE_CXX_STANDARD 14)

set(MDTOOL_VERSION 1.5.1)
set(MDTOOL_VERSION 1.5.2)

set(MDTOOL_VERSION_TAG 'r')

if(NOT DEFINED ARCH)
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2 changes: 1 addition & 1 deletion candle
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Submodule candle updated 2 files
+1 −1 CMakeLists.txt
+2 −1 src/candle.cpp
11 changes: 9 additions & 2 deletions include/ui.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -74,15 +74,22 @@ namespace ui
constexpr float mainEncoderStdDevMax = 0.012f;
constexpr float mainEncoderMaxError = 0.05f;

const std::vector<std::string> encoderTypes = {"NONE",
const std::vector<std::string> encoderTypesLegacy = {"NONE",
"AS5047_CENTER",
"AS5047_OFFAXIS",
"MB053SFA17BENT00",
"CM_OFFAXIS",
"M24B_CENTER",
"M24B_OFFAXIS"};
const std::vector<std::string> encoderTypes = {"NONE",
"ME_AS_CENTER",
"ME_AS_OFFAXIS",
"MB053SFA17BENT00",
"CM_OFFAXIS",
"M24B_CENTER",
"M24B_OFFAXIS"};
const std::vector<std::string> encoderModes = {
"NONE", "STARTUP", "MOTION", "REPORT", "MAIN", "CALIBRATED_REPORT"};
"NONE", "STARTUP", "MOTION", "REPORT", "MAIN", "CALIBRATED_REPORT", "DUAL_RLS"};
const std::vector<std::string> encoderCalibrationModes = {"FULL", "DIRONLY"};
const std::vector<std::string> motorCalibrationModes = {"FULL", "NOPPDET"};
const std::vector<std::string> GPIOmodes = {"OFF", "BRAKE", "GPIO INPUT"};
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10 changes: 8 additions & 2 deletions src/mainWorker.cpp
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Expand Up @@ -763,13 +763,18 @@ void MainWorker::setupMotor(std::vector<std::string>& args)

regW.RW.outputEncoderDefaultBaud =
atoi(cfg["output encoder"]["output encoder default baud"].c_str());

regW.RW.outputEncoder =
getNumericParamFromList(cfg["output encoder"]["output encoder"], ui::encoderTypes);
if (regW.RW.outputEncoder == 0) // aka NONE
regW.RW.outputEncoder =
getNumericParamFromList(cfg["output encoder"]["output encoder"], ui::encoderTypesLegacy);

regW.RW.outputEncoderMode =
getNumericParamFromList(cfg["output encoder"]["output encoder mode"], ui::encoderModes);
regW.RW.outputEncoderCalibrationMode = getNumericParamFromList(
cfg["output encoder"]["output encoder calibration mode"], ui::encoderCalibrationModes);
regW.RW.userGpioConfiguration = getNumericParamFromList(cfg["GPIO"]["mode"], ui::GPIOmodes);
regW.RW.userGpioConfiguration = getNumericParamFromList(cfg["GPIO"]["mode"], ui::GPIOmodes);

auto floatFromField = [&](const char* category, const char* field) -> float
{ return atof(cfg[category][field].c_str()); };
Expand Down Expand Up @@ -876,7 +881,8 @@ void MainWorker::setupMotor(std::vector<std::string>& args)
floatFromField("profile", "velocity")))
ui::printFailedToSetupMotor(mab::Md80Reg_E::positionLimitMin);

if (!candle->writeMd80Register(id, mab::Md80Reg_E::userGpioConfiguration, regW.RW.userGpioConfiguration))
if (!candle->writeMd80Register(
id, mab::Md80Reg_E::userGpioConfiguration, regW.RW.userGpioConfiguration))
ui::printFailedToSetupMotor(mab::Md80Reg_E::userGpioConfiguration);

candle->configMd80Save(id);
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2 changes: 1 addition & 1 deletion template_package/etc/mdtool/mdtool_motors/AK60-6.cfg
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Expand Up @@ -32,7 +32,7 @@ deceleration = 10.0
velocity = 20.0

[output encoder]
; output encoder type - valid types: AS5047_CENTER, AS5047_OFFAXIS, MB053SFA17BENT00, CM_OFFAXIS
; output encoder type - valid types: ME_AS_CENTER, ME_AS_OFFAXIS, MB053SFA17BENT00, CM_OFFAXIS
output encoder = 0

# output encoder mode - valid modes: STARTUP, MOTION, CALIBRATED_REPORT
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2 changes: 1 addition & 1 deletion template_package/etc/mdtool/mdtool_motors/AK80-9_aux_center_mot.cfg
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Expand Up @@ -21,7 +21,7 @@ deceleration = 10.0
velocity = 20.0

[output encoder]
output encoder = AS5047_CENTER
output encoder = ME_AS_CENTER
output encoder mode = MOTION

[position PID]
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2 changes: 1 addition & 1 deletion template_package/etc/mdtool/mdtool_motors/AK80-9_aux_center_rep.cfg
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@ deceleration = 10.0
velocity = 20.0

[output encoder]
output encoder = AS5047_CENTER
output encoder = ME_AS_CENTER
output encoder mode = REPORT

[position PID]
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2 changes: 1 addition & 1 deletion template_package/etc/mdtool/mdtool_motors/AK80-9_aux_center_start.cfg
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@ deceleration = 10.0
velocity = 20.0

[output encoder]
output encoder = AS5047_CENTER
output encoder = ME_AS_CENTER
output encoder mode = STARTUP

[position PID]
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2 changes: 1 addition & 1 deletion template_package/etc/mdtool/mdtool_motors/AK80-9_aux_offaxis.cfg
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@ deceleration = 10.0
velocity = 20.0

[output encoder]
output encoder = AS5047_OFFAXIS
output encoder = ME_AS_OFFAXIS
output encoder mode = STARTUP

[position PID]
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36 changes: 36 additions & 0 deletions template_package/etc/mdtool/mdtool_motors/MA-hs.cfg
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@@ -0,0 +1,36 @@
[motor]
name=MA_hs
pole pairs=14.0
kv=120.0
torque constant=0.1
gear ratio=0.02
max current=5.5999999
torque bandwidth=500.0
shutdown temp=80.0
[limits]
max torque=60.0
max velocity=10.0
max position=1000.0
min position=-1000.0
max acceleration=100.0
max deceleration=100.0
[profile]
acceleration=100.0
deceleration=100.0
velocity=10.0
[output encoder]
output encoder=MB053SFA17BENT00
output encoder mode=DUAL_RLS
[position pid]
kp=20.0
ki=0.5
kd=0.0
windup=15.0
[velocity pid]
kp=0.35
ki=0.5
kd=0.0
windup=1.5
[impedance pd]
kp=3.5
kd=0.25
2 changes: 1 addition & 1 deletion template_package/etc/mdtool/mdtool_motors/default.cfg
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@ deceleration = 10.0
velocity = 20.0

[output encoder]
; output encoder type - valid types: AS5047_CENTER, AS5047_OFFAXIS, MB053SFA17BENT00, CM_OFFAXIS
; output encoder type - valid types: ME_AS_CENTER, ME_AS_OFFAXIS, MB053SFA17BENT00, CM_OFFAXIS
output encoder = 0
; output encoder mode - valid modes: STARTUP, MOTION, REPORT
output encoder mode = 0
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