Merge branch 'master' into devel

Arduino/ODriveArduino/ODriveArduino.cpp

@@ -66,7 +66,7 @@ bool ODriveArduino::run_state(int axis, int requested_state, bool wait) {
         do {
             delay(100);
             serial_ << "r axis" << axis << ".current_state\n";
-        } while (readInt() != requested_state && --timeout_ctr > 0);
+        } while (readInt() != AXIS_STATE_IDLE && --timeout_ctr > 0);
     }
 
     return timeout_ctr > 0;

CHANGELOG.md

@@ -21,13 +21,15 @@ Please add a note of your changes below this heading if you make a Pull Request.
 ## [0.5.1] - 2020-09-27
 ### Added
 * Added motor `torque_constant`: units of torque are now [Nm] instead of just motor current.
+* Added `motor.config.torque_lim`: limit for motor torque in [Nm].
 * [Motor thermistors support](docs/thermistors.md)
 * Enable/disable of thermistor thermal limits according `setting axis.<thermistor>.enabled`.
 * Introduced `odrive-interface.yaml` as a root source for the ODrive's API. `odrivetool` connects much faster as a side effect.
 * Added torque_constant and torque_lim to motor config
 
 ### Changed
 * **`input_pos`, `input_vel`, `pos_estimate_linear`, `pos_estimate_circular`, are now in units of [turns] or [turns/s] instead of [counts] or [counts/s]**
+* **`pos_gain`, `vel_gain`, `vel_integrator_gain`, are now in units of [(turns/s) / turns], [Nm/(turns/s)], [Nm/(turns/s * s)] instead of [(counts/s) / counts], [A/(counts/s)], [A/((counts/s) * s)].** `pos_gain` is not affected. Old values of `vel_gain` and `vel_integrator_gain` should be multiplied by `torque_constant * encoder cpr` to convert from the old units to the new units. `torque_constant` is approximately equal to 8.27 / (motor KV).
 * `axis.motor.thermal_current_lim` has been removed. Instead a new property is available `axis.motor.effective_current_lim` which contains the effective current limit including any thermal limits.
 * `axis.motor.get_inverter_temp()`, `axis.motor.inverter_temp_limit_lower` and `axis.motor.inverter_temp_limit_upper` have been moved to seperate fet thermistor object under `axis.fet_thermistor`. `get_inverter_temp()` function has been renamed to `temp` and is now a read-only property.
 * `axis.config.counts_per_step` is now `axis.config.turns_per_step`

Firmware/odrive-interface.yaml

@@ -735,12 +735,15 @@ interfaces:
           pos_gain:
             type: float32
             unit: (turn/s) / turn
+            doc: units = (turn/s) / turn, default = 20
           vel_gain:
             type: float32
             unit: 'Nm/(turn/s)'
+            doc: units = 'Nm/(turn/s), default = 0.16
           vel_integrator_gain:
             type: float32
             unit: Nm/(turn/s * s)
+            doc: units = Nm/(turn/s * s), default = 0.32
           vel_limit:
             type: float32
             unit: turn/s
@@ -1151,4 +1154,4 @@ valuetypes:
       HighCurrent:
       #LowCurrent: # not implemented
       Gimbal: {value: 2}
-      Acim:
+      Acim:

docs/assets/css/style.scss

@@ -337,6 +337,9 @@ header li {
 .navitem a {
   display: block;
   width: 100%;
+  text-overflow: ellipsis;
+  overflow: hidden;
+  white-space: nowrap;
 }
 
 .levelbar {

docs/commands.md

@@ -38,7 +38,7 @@ See [here](api/odrive.axis.axisstate) for a description of each state.
 ### Control Mode
 The default control mode is position control.
 If you want a different mode, you can change `<axis>.controller.config.control_mode`.
-Possible values are listed [here](api/odrive.axis.controller.controlmode).
+Possible values are listed [here](api/odrive.controller.controlmode).
 
 ### Input Mode
 
@@ -51,7 +51,7 @@ As of version v0.5.0, ODrive now intercepts the incoming commands and can apply
 
 Modes can be selected by changing `<axis>.controller.config.input_mode`.
 The default input mode is `INPUT_MODE_PASSTHROUGH`.
-Possible values are listed [here](api/odrive.axis.controller.inputmode).
+Possible values are listed [here](api/odrive.controller.inputmode).
 
 ## System monitoring commands
 

docs/getting-started.md

@@ -378,3 +378,5 @@ If you have any issues or any questions please get in touch. The [ODrive Communi
 
 ## Upgrading from 0.4.12
 A new version (0.5.1) of ODrive firmware has released, complete with a new odrivetool.  Follow the installation instructions, making sure to add the `--upgrade` flag to pip commands, and check out the [Changelog](../CHANGELOG.md) for changes!
+
+The odrivetool will stage and restore your configuration.  This probably isn't wise for the 0.4.12 -> 0.5.1 upgrade, so we suggest using `odrv0.erase_configuration()` immediately after connecting the first time.