Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

P5 Firmware #25

Merged
merged 16 commits into from
Jan 24, 2024
Merged

P5 Firmware #25

merged 16 commits into from
Jan 24, 2024

Conversation

hello-binit
Copy link
Contributor

@hello-binit hello-binit commented Jan 24, 2024 •
edited
Loading

P5 firmware Includes:

  • A better charger detection for Stretch 2 and Stretch 3 robots
  • Two charging status bits: "charger_is_connected" is whether the charger is mechanically plugged into the robot, and "charger_is_charging" is whether the charger is actually turned on and providing power
  • Can now read stepper voltages from every stepper individually (was previously left to zero due to a bug)
  • Assign stepper type to each stepper (e.g. /dev/ttyACM1 would know it is a left wheel stepper type)
  • Left and right wheel stepper types can take advantage of better runstop by actually disconnecting the H bridge from the motor

@vrathiraj-hellorobot
Added decay pin enabling for brake circuit
24cbc2f
@vrathiraj-hellorobot
adding charging class to pimu firmware
bb20868
@vrathiraj-hellorobot
fixed charging class code
29679af
@vrathiraj-hellorobot
removed bin files
0a415fa
@vrathiraj-hellorobot
simpler charger detection, with only hotplug condition
ef4ffd3
@vrathiraj-hellorobot
expermental charger detection
07b4e0d
@vrathiraj-hellorobot
adding board variant for s2
0c7f3fe
@vrathiraj-hellorobot
finalized charger detection class
945bfc3
@vrathiraj-hellorobot
fixed board variant
bbd5e1f
@vrathiraj-hellorobot
switched counter increment to the top
cca6a13
@vrathiraj-hellorobot
bug fix
009ce88
@vrathiraj-hellorobot
fixed logic for unplug detection
2532083
@vrathiraj-hellorobot
removed RAW to IS macro
79b2fb1
@vrathiraj-hellorobot
For stepper fw: Added stepper_type parameter in the board_info status…
611ae29 
…. This allows us to now disable the motor drivers of the wheel stepper boards during a runstop event to allow for easy rotation of the wheels while moving stretch around. Also added the logic for disabling the motor drivers while runstoped. Added AnalogManager to allow the reading of the voltage pin on the stepper boards, using interrupts instead of the analog_read methoad as it was causing issues. For the Pimu fw: added another charging state called state_charger_is_charging to have another 2 bits of data to show the user if the charger is connected to stretch but not charging
@vrathiraj-hellorobot
Added condition to not do analog_step for board variants less than Rev3
9cb692c 
Added condition to ensure no issue with the new analog manager class with older pcbs
@vrathiraj-hellorobot
Changed major versions for both Pimu and stepper to 0.7.0p5
632d7b7
@hello-binit hello-binit merged commit cd3b014 into master Jan 24, 2024
@hello-binit hello-binit deleted the feature/se3_test branch January 24, 2024 20:33
@hello-binit hello-binit mentioned this pull request Jan 24, 2024
Merged
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers
No reviews
Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
2 participants
@hello-binit @vrathiraj-hellorobot