Merge branch 'master' into develop

docs/features/features.rst

@@ -102,7 +102,7 @@ There are six parameters in total that control the homing behavior:
 * `tmx.homing.stall_detect.delta_pos`: The position error above which (and together with `stall_detect.velocity`) stall detection mode is triggered
 * `tmx.homing.stall_detect.t`: The time to remain in stall detection mode before the motor is considered stalled
 
-The torque applied while the motor is stopped, until `stall_detect.t` time passes is the maximum allowed torque, as defined in the controller settings.
+In addition to the above, the phase current while the motor is stopped, until `stall_detect.t` time passes is the maximum allowed phase current, as defined in `tmx.controller.current.Iq_limit`. It is advisable to set this value so that mechanical damage or fatigue is avoided.
 
 Operation
 *********

docs/protocol/integrating.rst

@@ -37,10 +37,10 @@ The above code block will instantiate a Tinymovr with CAN bus id of 1 and calibr
 .. code-block:: python
 
     tm.controller.position_mode()
-    tm.controller.pos_setpoint = 10000
+    tm.controller.position.setpoint = 10000
 
     tm.controller.velocity_mode()
-    tm.controller.vel_setpoint = 80000
+    tm.controller.velocity.setpoint = 80000
 
 Error Codes
 ###########

docs/quickstart.rst

@@ -1,10 +1,12 @@
-*****************
-From Zero to Spin
-*****************
+************************
+From Unbox to First Spin
+************************
 
 Preparation
 ###########
 
+Welcome to Tinymovr!
+
 If you are using a Tinymovr Servo Kit/Tinymovr Dev Kit, please ensure you have completed :ref:`connecting-data` and :ref:`connecting-power`.
 
 If you are using a Tinymovr board in your own setup, please go through :ref:`hardware-overview` and :ref:`hardware-setup`.
@@ -62,14 +64,14 @@ The Tinymovr Studio GUI offers an overview of the device internals as a tree str
 
 The Tinymovr Servo Kit motor and encoder are already calibrated. If you have your own setup, or if you experience problems with prior calibration, you'll need to go through the following brief calibration procedure.
 
-In Tinymovr Studio, navigate to `tmx->controller`. Press the `Calibrate` button. Note that after pressing this button, the motor will spin. Ensure the rotor is free of obstructions or loads, and the motor is firmly fixed.
+In Tinymovr Studio, navigate to `tmx->controller`. Press the button with the arrow next to the `calibrate` label. Note that after pressing this button, the motor will spin. Ensure the rotor is free of obstructions or loads, and the motor is firmly fixed.
 
 Follow the on-screen prompts. The motor will produce an audible beep and rotate in one direction.
 Your Tinymovr is now ready for operation. Navigate to `tmx->motor`. This will reveal identified motor parameters, namely: phase resistance, phase inductance, number of pole pairs and encoder ticks.
 
 Testing Position Control using the Studio GUI
 #############################################
 
-Navigate back to `tmx->controller`. Press the `Position` button. Note that after pressing the button, the motor will hold position and may spin. The motor should now be actively holding it's position. Try moving it by hand and you should feel resistance.
+Navigate back to `tmx->controller`. Press the button with the arrow next to the `position_mode` label. Note that after pressing the button, the motor will hold position and may spin. The motor should now be actively holding it's position. Try moving it by hand and you should feel resistance.
 
-To command a new position, navigate to `tmx->controller->position`, and double-click on the `setpoint` value. Type in a new position followed by Enter. The motor should jump to the commanded position.
+To command a new position, navigate to `tmx->controller->position`, and double-click on the value next to the `setpoint` label. This value is expressed in ticks, a unit that denotes 1/8192 of the circle. Type in a new position followed by Enter. The motor should jump to the commanded position.