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Version v1.0.1:

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* Improved homing (parallel homing support, better repeatability, better geometric reference point)
 * Improved joint calibration procedure
 * Calibration data can now be stored persistently on the flash memory (no repeated calibration required)
 * Improved logging
 * added PythonAPI to control device easily

New G-Code commands:
 * Enable/Disable motors command, including pose recovery from current position on motor enable
 * Dedicated joint calibration command with save to flash option
 * Set pose command to directly set a target pose for the servo loops, bypassing the motion controller (good for real-time control)
This commit is contained in:
0x23 2025-09-19 09:24:56 +02:00
parent 2cf353e7fc
commit d9888ef369
27 changed files with 1723 additions and 784 deletions
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67
firmware/MotionControllerRP/src/hw_config.h
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@ -5,39 +5,16 @@
#define MOTOR2_POLE_PAIRS 100
#define MOTOR3_POLE_PAIRS 100
// #define SINGLE_AXIS_BOARD
#ifdef SINGLE_AXIS_BOARD
// Single Axis Board
#define PIN_BUILTIN_LED 16
#define PIN_USER_BUTTON 24
#define CALIBRATION_RANGE 95 // degrees from home position
#define CALIBRATION_FIELD_VELOCITY 40.0f
#define PIN_M1_PWM_A_POS 13
#define PIN_M1_PWM_A_NEG 12
#define PIN_M1_PWM_B_POS 14
#define PIN_M1_PWM_B_NEG 15
#define PIN_M2_PWM_A_POS 9
#define PIN_M2_PWM_A_NEG 8
#define PIN_M2_PWM_B_POS 10
#define PIN_M2_PWM_B_NEG 11
#define PIN_M3_PWM_A_POS 5
#define PIN_M3_PWM_A_NEG 4
#define PIN_M3_PWM_B_POS 6
#define PIN_M3_PWM_B_NEG 7
#define HOMING_VELOCITY 1.0f // rad per s
#define HOMING_CURRENT 0.15f // range 0..1
#define HOMING_FINISH_POS 0.5f // in rad
#define PIN_MOTOR_EN 18
#define PIN_MOTOR_PWMAB 19
#define PIN_ENCODER1_CS 20
#define PIN_ENCODER2_CS 21
#define PIN_ENCODER3_CS 22
#define PIN_ENCODER_SCK 2
#define PIN_ENCODER_MISO 0
#define PIN_ENCODER_MOSI 3
#else
#define SINGLE_AXIS_BOARD
#ifndef SINGLE_AXIS_BOARD
// Pins for 3Axis Board
#define PIN_BUILTIN_LED 23
#define PIN_USER_BUTTON 24
@ -68,6 +45,36 @@
#define PIN_ENCODER_MISO 0
#define PIN_ENCODER_MOSI 3
#else
// Single Axis Board
#define PIN_BUILTIN_LED 16
#define PIN_USER_BUTTON 24
#define PIN_M1_PWM_A_POS 13
#define PIN_M1_PWM_A_NEG 12
#define PIN_M1_PWM_B_POS 14
#define PIN_M1_PWM_B_NEG 15
#define PIN_M2_PWM_A_POS 9
#define PIN_M2_PWM_A_NEG 8
#define PIN_M2_PWM_B_POS 10
#define PIN_M2_PWM_B_NEG 11
#define PIN_M3_PWM_A_POS 5
#define PIN_M3_PWM_A_NEG 4
#define PIN_M3_PWM_B_POS 6
#define PIN_M3_PWM_B_NEG 7
#define PIN_MOTOR_EN 18
#define PIN_MOTOR_PWMAB 19
#define PIN_ENCODER1_CS 20
#define PIN_ENCODER2_CS 21
#define PIN_ENCODER3_CS 22
#define PIN_ENCODER_SCK 2
#define PIN_ENCODER_MISO 0
#define PIN_ENCODER_MOSI 3
#endif
// test setup