Dado Mista
813d5b15fa
Balance App: introduce new speed based variable tiltback
...
Nose angle adjustment, similar in purpose as constant tiltback
but it is proportional to erpm aka speed.
Signed-off-by: Dado Mista <dadomista@gmail.com>
2021-06-25 21:42:37 -07:00
Benjamin Vedder
75b84f1f2d
Added kill switch support
2021-06-13 13:46:27 +02:00
Mitch Lustig
d561c2669b
Add balance loop time correction
2021-06-06 14:01:42 -07:00
Mitch Lustig
de9400e461
Add brake timeout
2021-06-05 16:05:19 -07:00
Mitch Lustig
d68fc0ff4f
Balance: Updates
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-Fix D term to use angle rather than error (which includes tilt steps)
-Switch TT to Biquad (Clear z1 z2)
-Split TT Relax speed
-Add Biquad to D term
-Add console command to graph specific variables
-Add console command to dump realtime data from specific variables
2021-06-01 03:20:00 -07:00
Mitch Lustig
b237cf4b9f
Add High Pass FIlter, implement current off delay, refactor constanttilt
2021-05-16 14:53:03 -07:00
Benjamin Vedder
f25144cc30
Removed iterative observer, added p_pid_gain_dec_angle
2021-04-26 23:14:05 +02:00
Mitch Lustig
187621d530
Add confgenerator
2021-04-17 18:20:51 -07:00
Benjamin Vedder
14b25e9aa4
Added foc_fw_q_current_factor
2021-04-15 10:04:28 +02:00
Benjamin Vedder
feb1be5fbd
First attempt at field weakening and current controller windup protection improvement
2021-04-10 11:37:35 +02:00
Mitch Lustig
08f27f433c
Add turn tilt
2021-04-06 02:18:32 -07:00
Benjamin Vedder
fcb7e12158
Made servo output a config option
2021-03-31 16:28:46 +02:00
Mitch Lustig
decdc7e7d6
Add torquetilt
2021-03-27 20:13:22 -07:00
Mitch Lustig
3b9fe6ec67
Add Booster
2021-03-27 14:00:55 -07:00
Mitch Lustig
49e624ba3b
Remove boring features
2021-03-27 12:17:10 -07:00
Benjamin Vedder
3b4e601f61
Offset calibration update
2021-03-22 12:13:19 +01:00
Benjamin Vedder
c82346b42e
Added HFI start sensor mode
2021-03-13 11:42:23 +01:00
Benjamin Vedder
8900c41c34
First phase filter and offset calibration attempt
2021-02-28 20:36:02 +01:00
Benjamin Vedder
fefb2b7d10
Set PAS pins to UART RX and TX if they are undefined, made PAS config serialization more compact, added PAS to changelog
2020-12-09 19:37:16 +01:00
Marcos Chaparro
33b5d5c1ba
Pedal assist support (PAS)
...
This commit enables cadence-based pedal assist for ebikes using
quadrature-style pedal speed sensors.
There are 2 operation modes:
* PAS only: Motor current is based only on pedal feedback
* ADC + PAS: The code will use both ADC and pedal feedback and use
the strongest command to provide seamless overlap when the user is
pedalling and requests extra torque with the throttle.
Signed-off-by: Marcos Chaparro <mchaparro@powerdesigns.ca>
2020-12-07 17:06:36 -03:00
Benjamin Vedder
66b4d8f56d
Added FOC D axis controller gain scaling at max modulation
2020-12-06 21:33:08 +01:00
Benjamin Vedder
55096f93cc
Added UAVCAN raw throttle modes
2020-12-04 17:54:22 +01:00
Benjamin Vedder
6509065ca2
Added BMS module
2020-10-22 08:32:51 +02:00
Benjamin Vedder
c77f92470b
IO board support, initial bms support, more openloop parameters, removed D current injection, added new HWs
2020-10-09 21:08:48 +02:00
Mitch Lustig
0f5c6f5379
Add confgen and running states
2020-07-04 00:11:20 -07:00
Marcos Chaparro
42926d530e
Add MTPA support
...
Signed-off-by: Marcos Chaparro <mchaparro@powerdesigns.ca>
2020-06-06 22:14:06 -03:00
Benjamin Vedder
9781fb9563
Manually merged #166
2020-05-12 15:53:32 +02:00
Benjamin Vedder
57c5d04214
Added l_duty_start and set correct motor in mcinterface_timer
2020-04-21 19:58:12 +02:00
Mitch Lustig
24afd4e6f3
Balance sprint 3
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-Can steering based on speed
-Can steering current clamp
-Min rpm for half switch state fault
-Soft mode tuning (pitch angle affinity, setpoint affinity, setpoint limit)
-Reset I value on faults issue #117
-fix startup tiltback
2020-03-15 23:18:34 -07:00
Mitch Lustig
6d29b6741f
Use ADC for switches
2020-02-23 13:34:51 -08:00
Mitch Lustig
d4f6036de7
Implement nose angle adjustment
2020-02-23 10:23:19 -08:00
Mitch Lustig
2c07512091
Add can bus, 2 wheel steering & stabilization, brake, dead & fault dealy
2020-02-23 00:22:21 -08:00
Benjamin Vedder
b6949d60dc
FW4.00: HFI and many updates, see changelog
2020-01-28 19:46:19 +01:00
Benjamin Vedder
ffbc6eb89b
First attempt at HFI
2020-01-20 09:39:33 +01:00
Benjamin Vedder
b002e5d78e
FW 3.66: Many changes, see changelog
2020-01-12 21:25:21 +01:00
Benjamin Vedder
210ec40d74
PTC motor thermistor support, APP_PPM sleep fix
2019-12-22 21:22:07 +01:00
Mitch Lustig
343dba369a
Remove axis config
2019-09-21 01:07:31 -07:00
Mitch Lustig
d160f74651
Merge branch 'master' into balance
2019-09-12 22:50:12 -07:00
Mitch Lustig
3c31d264fd
Add high voltage tiltback
2019-09-12 00:07:26 -07:00
Mitch Lustig
518776d04e
Add basic low voltage tiltback
2019-09-10 19:29:44 -07:00
Mitch Lustig
5d3f829e69
Fix conf gen
2019-09-10 01:38:03 -07:00
Mitch Lustig
fe53fdf716
Update conf gen BUT WHY IS IT 0 THO?!?
2019-09-10 01:14:32 -07:00
Mitch Lustig
67a4653bd8
Add support for dual fault switches
2019-09-10 01:07:05 -07:00
Benjamin Vedder
eb6f5945ce
FW 3.61: Added smart reverse mode to PPM app, and some fixes
2019-09-09 19:34:26 +02:00
Mitch Lustig
72e9c24bd7
Make axes configurable, remove offset management
2019-09-08 18:32:53 -07:00
Mitch Lustig
011d3055f6
Merge branch 'master' into merge_new_master
2019-09-08 15:05:54 -07:00
Mitch Lustig
98652977a2
Merge master
2019-09-08 11:42:28 -07:00
Benjamin Vedder
a233367be8
MPU9x50 fix, experiment plots, DQ voltage RT data, smart reverse for nunchuk app
2019-09-08 18:25:38 +02:00
Benjamin Vedder
602db7435b
FW3.59. Many updates, see changelog for details
2019-09-03 20:39:05 +02:00
Mitch Lustig
7a47053ca6
Add startup calibration sequence
2019-08-27 19:57:35 -07:00