autosync

Author: actions-user

CHANGELOG.md

@@ -1,3 +1,6 @@
+# [0.10.7]
+- Fixed int overflow issue w/ Arduino Mega example
+
 # [0.10.6]
 - Fixed getEndpoint not updating requested_msg_id_, causing periodic messages to be read as a TxSdo message.
 

examples/SineWaveUART/SineWaveUART.ino

@@ -27,14 +27,14 @@ unsigned long baudrate = 19200; // Must match what you configure on the ODrive (
 // pin 1: TX - connect to ODrive RX
 // See https://www.pjrc.com/teensy/td_uart.html for other options on Teensy
 // HardwareSerial& odrive_serial = Serial1;
-// int baudrate = 115200; // Must match what you configure on the ODrive (see docs for details)
+// unsigned long baudrate = 115200; // Must match what you configure on the ODrive (see docs for details)
 
 // Arduino Mega or Due - Serial1
 // pin 19: RX - connect to ODrive TX
 // pin 18: TX - connect to ODrive RX
 // See https://www.arduino.cc/reference/en/language/functions/communication/serial/ for other options
 // HardwareSerial& odrive_serial = Serial1;
-// int baudrate = 115200; // Must match what you configure on the ODrive (see docs for details)
+// unsigned long baudrate = 115200; // Must match what you configure on the ODrive (see docs for details)
 
 
 ODriveUART odrive(odrive_serial);

library.properties

@@ -1,6 +1,6 @@
 # https://arduino.github.io/arduino-cli/0.33/library-specification/
 name=ODriveArduino
-version=0.10.6
+version=0.10.7
 author=ODrive Robotics Inc. <[email protected]>
 maintainer=ODrive Robotics Inc. <[email protected]>
 sentence=Library to control ODrive motor controllers

src/ODriveEnums.h

@@ -166,6 +166,12 @@ enum ODriveSpiEncoderMode {
     SPI_ENCODER_MODE_NOVOHALL                = 8,
 };
 
+// ODrive.IncrementalEncoderFilter
+enum ODriveIncrementalEncoderFilter {
+    INCREMENTAL_ENCODER_FILTER_SPEED_10M     = 0,
+    INCREMENTAL_ENCODER_FILTER_SPEED_20M     = 1,
+};
+
 // ODrive.Rs485EncoderMode
 enum ODriveRs485EncoderMode {
     RS485_ENCODER_MODE_DISABLED              = 0,
@@ -190,8 +196,8 @@ enum ODriveInputMode {
 
 // ODrive.MotorType
 enum ODriveMotorType {
-    MOTOR_TYPE_HIGH_CURRENT                  = 0,
-    MOTOR_TYPE_GIMBAL                        = 2,
+    MOTOR_TYPE_PMSM_CURRENT_CONTROL          = 0,
+    MOTOR_TYPE_PMSM_VOLTAGE_CONTROL          = 2,
     MOTOR_TYPE_ACIM                          = 3,
 };