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Merged
merged 76 commits into from
Apr 23, 2025
Merged

CANFD Control #98

merged 76 commits into from
Apr 23, 2025

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1lokeshpatel
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@1lokeshpatel
initial port over
475cd0d
@1lokeshpatel
current: tested with one DM4310 MIT torque control
0346f5d
@1lokeshpatel
openarm_control class, errors need to be fixed
579f162
@1lokeshpatel
move_mit_all controls all motors using MIT ctrl
55dc97d
@1lokeshpatel
created enable and disable arm functionality
873eb6a
@1lokeshpatel
added event recorder and fifo queue check
bab50b6
@1lokeshpatel
control frequency measuring
f49e308
@1lokeshpatel
changed tim2 prescaler
ad4ad1e
@1lokeshpatel
tested control frequency - ~1.2KHz with 7 motors
70edce2
@1lokeshpatel
gradual increase torque test
524d5a3
@1lokeshpatel
event vs velocity plot for gradual torque program
4c81d01
@1lokeshpatel
add 4340 limits
4fc8c4d
@1lokeshpatel
reformatting
6815736
@1lokeshpatel
removed unknown character comments
f4e0506
@1lokeshpatel
base control on number of motors
5954f5b
@1lokeshpatel
added 8th motor
2e27b61
@1lokeshpatel
added change baudrate function
2836d28
@1lokeshpatel
created comments for functions
e93801a
@1lokeshpatel
start README
91484bb
@1lokeshpatel
changed config to work with 5mbps motors
ff36f45
@1lokeshpatel
updated readme.md
01c4e8a
@1lokeshpatel
changed sample point for data phase
8574623
@1lokeshpatel
added DM8009 motor type
468178e
@1lokeshpatel
added DM8009 motor and switch case for motor param
dd2f1b9
@1lokeshpatel
added motor parameters enum
a688cf1
@1lokeshpatel
added set_zero_position
d9d7c84
@1lokeshpatel
added dynamic limit member variables to motors
ae54df8
@1lokeshpatel
added read, change, write command
742cb46
@1lokeshpatel
added RID receive function
f698029
@1lokeshpatel
baudrate function working
8628030
@1lokeshpatel 1lokeshpatel self-assigned this Apr 23, 2025
edwin-giang
edwin-giang previously approved these changes Apr 23, 2025
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LGTM

thomasonzhou
thomasonzhou approved these changes Apr 23, 2025
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TODO: README.md documenting steps to reproduce STM32 setup

edwin-giang
edwin-giang approved these changes Apr 23, 2025
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nice

@1lokeshpatel 1lokeshpatel merged commit b00f736 into main Apr 23, 2025
@thomasonzhou thomasonzhou deleted the canfd branch May 8, 2025 08:18
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@thomasonzhou thomasonzhou thomasonzhou approved these changes

@edwin-giang edwin-giang edwin-giang approved these changes

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@1lokeshpatel 1lokeshpatel

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3 participants
@1lokeshpatel @thomasonzhou @edwin-giang