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2024-10-29
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@jpieper jpieper released this 29 Oct 20:13
0.1-20241029
2194c07
  • Many changes were made to make encoder compensation work better for hard configurations, such as with off axis MA732/MA702/MA600 magnetic encoders.
    • Upgrade encoder compensation to 256 bins from 32
    • Upgrade the compensation script to support both an inertial mode and a reference mode, improve plots
  • Commutation compensation now linearly interpolates between bins, which further helps off-axis encoders
    • As a side effect, compensation tables can now be invalid if too steep, resulting in an error
  • Support the MA600 SPI magnetic encoder
  • Implement PWM output for aux ports - all pins previously marked as hardware quadrature capable can now be used as PWM output
  • Expose the UUID over the register protocol, allow individual commands to be scoped to a UUID prefix. In the future, this could be used with the multiplex broadcast address to discover devices.
  • The motor thermistor resistance now defaults to 10k and is configurable

moteus_tool from pypi version 0.3.73 or newer is required to flash this firmware.

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