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Extra features and Manufacturing info #2

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DarrenLevine
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  • Added a failsafe angle limit optional feature, which is then included as a calibration step if enabled.
  • Changed so that zero-torque turned off motors.
  • Added compatibility with cube HAL libraries (does not break old compatibility).
  • Added a reset flash command.
  • Replaced OK\n response with angle reading, to save bandwidth.
  • Changed the angle reading to be a tracked absolute angle from startup, represented as a int32_t.
  • Added Manufacturing information, such as a BOM and README.md.
  • Added a python interface (pyds = "PYthon DirectServo"), and usage examples.

DarrenLevine and others added 5 commits August 31, 2019 08:24
@DarrenLevine
* Various formatting changes, to flow, changed some variables to fixe…
847323f 
…d width integer type, made sure interrupt accessed variables were volatile, etc.

* Added a failsafe angle limit feature, which is then included as a calibration step if enabled.
* Changed so that zero-torque turned off motors.
* Added compatibility with cube HAL libraries (does not break old compatibility).
* Added a reset flash command.
* Replaced OK\n response with angle reading, to save bandwidth.
* Changed the angle reading to be a tracked absolute angle from startup, represented as a int32_t.
* Added Manufacturing information, such as a BOM and README.md.
* Added a python interface, and usage examples.
@DarrenLevine
Added a hook for user to define additional kill on commands. As an ex…
a2e777f 
…ample, for my application, this lets me remove power from the servo rail and the motors during a failure.
updates to the python interface
1ab8aca
@DarrenLevine
* delay_ticks() and delay_ms() added.
3528362 
* Response message now also includes max acceleration since last response. So sendangle is now sendstate (angle and acceleration).
* Added a new set-zero-angle command, which will set the motors current position as the zero angle (which can calibrate the failsafe if set)
* The ID now blinks back at you when set for confirmation of the ID number. The ID will now be set one second after you stop clicking the ID button, so a power cycle is no longer needed.
* Refactored/sped-up the python testing interface.
@DarrenLevine
Merge branch 'master' of https://github.com/DarrenLevine/DirectServo
01ffecc
@DarrenLevine
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Added the following features to pull request:

  • delay_ticks() and delay_ms() added.
  • Response message now also includes max acceleration since last response. So sendangle is now sendstate (angle and acceleration).
  • Added a new set-zero-angle command, which will set the motors current position as the zero angle (which can calibrate the failsafe if set)
  • The ID led now blinks back at you when set the id, for a confirmation of the ID number. The ID will now be set one second after you stop clicking the ID button, so a power cycle is no longer needed. So if you click the led button three times, and wait one second, it should confirm with three blinks back to you, and then without power cycling, you can do the same thing to set it to another value.
  • Refactored/sped-up the python testing interface.

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@DarrenLevine