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Fixes three things Hangprinter needs #680

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merged 5 commits into from
May 31, 2022
Merged

Fixes three things Hangprinter needs #680

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ae262e4
Sets steps_ in CANSimple::set_input_pos_callback
tobbelobb Mar 21, 2022
d272fbe
Puts fmodf_pos back into the steps_ assignment
tobbelobb Mar 29, 2022
58a6567
Stands still upon switching to position mode via can
tobbelobb Apr 5, 2022
c5017f4
Making circular_setpoints optional in step/dir mode
tobbelobb May 4, 2022
fa144cf
Makes behavior consistent across interfaces
tobbelobb May 5, 2022
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@ Please add a note of your changes below this heading if you make a Pull Request.
* Ensure endstops update before being checked for errors, to prevent [#625](https://github.com/odriverobotics/ODrive/issues/625)
* Reset trajectory_done_ during homing to ensure a new trajectory is actually computed [#634](https://github.com/odriverobotics/ODrive/issues/634)
* Use `input_xxx` as a DC offset in tuning mode
* Syncs `steps_` with input pos when set explicitly via CAN.

# Releases
## [0.5.4] - 2021-10-12
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4 changes: 1 addition & 3 deletions Firmware/MotorControl/axis.cpp
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Expand Up @@ -295,9 +295,7 @@ bool Axis::start_closed_loop_control() {
return false;
} else {
controller_.pos_setpoint_ = *pos_init;
controller_.input_pos_ = *pos_init;
float range = controller_.config_.circular_setpoint_range;
steps_ = (int64_t)(fmodf_pos(*pos_init, range) / range * controller_.config_.steps_per_circular_range);
controller_.set_input_pos_and_steps(*pos_init);
}
}
controller_.input_pos_updated();
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23 changes: 19 additions & 4 deletions Firmware/MotorControl/controller.cpp
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Expand Up @@ -87,6 +87,17 @@ bool Controller::anticogging_calibration(float pos_estimate, float vel_estimate)
}
}

void Controller::set_input_pos_and_steps(float const pos) {
input_pos_ = pos;
if (config_.circular_setpoints) {
float const range = config_.circular_setpoint_range;
axis_->steps_ = (int64_t)(fmodf_pos(pos, range) / range * config_.steps_per_circular_range);
} else {
axis_->steps_ = (int64_t)(pos * config_.steps_per_circular_range);
}
}


void Controller::update_filter_gains() {
float bandwidth = std::min(config_.input_filter_bandwidth, 0.25f * current_meas_hz);
input_filter_ki_ = 2.0f * bandwidth; // basic conversion to discrete time
Expand All @@ -109,11 +120,15 @@ bool Controller::update() {
std::optional<float> anticogging_vel_estimate = axis_->encoder_.vel_estimate_.present();

if (axis_->step_dir_active_) {
if (!pos_wrap.has_value()) {
set_error(ERROR_INVALID_CIRCULAR_RANGE);
return false;
if (config_.circular_setpoints) {
if (!pos_wrap.has_value()) {
set_error(ERROR_INVALID_CIRCULAR_RANGE);
return false;
}
input_pos_ = (float)(axis_->steps_ % config_.steps_per_circular_range) * (*pos_wrap / (float)(config_.steps_per_circular_range));
} else {
input_pos_ = (float)(axis_->steps_) / (float)(config_.steps_per_circular_range);
}
input_pos_ = (float)(axis_->steps_ % config_.steps_per_circular_range) * (*pos_wrap / (float)(config_.steps_per_circular_range));
}

if (config_.anticogging.calib_anticogging) {
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2 changes: 2 additions & 0 deletions Firmware/MotorControl/controller.hpp
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Expand Up @@ -80,6 +80,8 @@ class Controller : public ODriveIntf::ControllerIntf {
void start_anticogging_calibration();
bool anticogging_calibration(float pos_estimate, float vel_estimate);

void set_input_pos_and_steps(float pos);

void update_filter_gains();
bool update();

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17 changes: 15 additions & 2 deletions Firmware/communication/can/can_simple.cpp
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Expand Up @@ -253,7 +253,7 @@ bool CANSimple::get_encoder_count_callback(const Axis& axis) {
}

void CANSimple::set_input_pos_callback(Axis& axis, const can_Message_t& msg) {
axis.controller_.input_pos_ = can_getSignal<float>(msg, 0, 32, true);
axis.controller_.set_input_pos_and_steps(can_getSignal<float>(msg, 0, 32, true));
axis.controller_.input_vel_ = can_getSignal<int16_t>(msg, 32, 16, true, 0.001f, 0);
axis.controller_.input_torque_ = can_getSignal<int16_t>(msg, 48, 16, true, 0.001f, 0);
axis.controller_.input_pos_updated();
Expand All @@ -269,7 +269,20 @@ void CANSimple::set_input_torque_callback(Axis& axis, const can_Message_t& msg)
}

void CANSimple::set_controller_modes_callback(Axis& axis, const can_Message_t& msg) {
axis.controller_.config_.control_mode = static_cast<Controller::ControlMode>(can_getSignal<int32_t>(msg, 0, 32, true));

Controller::ControlMode const mode = static_cast<Controller::ControlMode>(can_getSignal<int32_t>(msg, 0, 32, true));
if (mode == Controller::CONTROL_MODE_POSITION_CONTROL) {
float estimate = 0.0f;
if (axis.controller_.config_.circular_setpoints) {
estimate = axis.encoder_.pos_circular_.any().value_or(0.0f);
} else {
estimate = axis.encoder_.pos_estimate_.any().value_or(0.0f);
}

axis.controller_.set_input_pos_and_steps(estimate);
}
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This reaction on writing the control mode is appropriate, but we need the behavior to be consistent when set from other sources than CAN. My suggestion is:

  1. Merge to a reusable function this snippet with the "// To avoid any transient on startup" section in axis.cpp start_closed_loop_control. You could call it set_setpoint_to_estimate.
  2. Add a c_setter tag to the control_mode endpoint in odrive-interface.yaml, so this can get executed when we write it on USB or UART.
  3. Add an entry in the changelog about this reaction on control mode change.


axis.controller_.config_.control_mode = static_cast<Controller::ControlMode>(mode);
axis.controller_.config_.input_mode = static_cast<Controller::InputMode>(can_getSignal<int32_t>(msg, 32, 32, true));
}

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