2023-06-15

• Provide better semantics for acceleration or velocity limited trajectories when the target velocity is non-zero. Now the semantics are, "match the trajectory x = x_command + v_command * t"
• In some cases, commanding position mode within a few ms of power-on could result in an assertion failure
• conf default now takes effect immediately for all configurable values
• Read UUID from OTP when available, this means conf default will no longer erase it

2023-06-05

• Improve ADC performance across all moteus revisions

2023-05-31

Resolve output drift with non-unity motor_position.rotor_to_output_ratio:

Previously, for some values of motor_position.rotor_to_output_ratio, the output position could drift over time. This would manifest as an incorrect reported position, and if under control, an incorrect controlled position. Torque and velocity control worked correctly, and still do. This was most common with irrational or non-power of two ratios, although the rate of drift varies depending upon what ratio was selected.

Improve initialization of AS5047P encoder

When using the onboard AS5047P encoder, the relative position was previously incorrectly offset from 0.0 on startup, which could result in the output position not being within +-0.5 * rotor_to_output_ratio as intended.

Support moteus-n1 r1.3 boards

2023-03-23

• Make the I2C startup delay 30ms and be configurable
• moteus-n1 boards now have a default flux braking minimum voltage of 52V

2023-03-15

• Improve ADC performance
  • This fixes a regression for moteus-r4.11 boards in 2023-03-10
  • It also generally improves the performance for moteus-n1 boards

2023-03-10

• Support the moteus-n1
• Fix possible inability to flash after reconfiguring aux ports
• Improve hardware board version detection reliability

2023-02-01

• Support sending and receiving arbitrary data from a UART configured on one of the auxiliary ports
  • when mode 'kTunnel' is selected, then the diagnostic protocol can be used to send and receive data
  • aux1 is diagnostic channel 2
  • aux2 is diagnostic channel 3
• Permit I2C encoders to operate at up to 1kHz
• Report control position, velocity, and torque as well as the errors in tracking them over the register protocol as registers 0x038 through 0x03d
• Provide support for synchronizing the clock of a moteus controller with a host application.
• In the diagnostic data, report the number of times that hall sensors changed more than one bit at the same time. This is an imperfect measure of problematic hall data, but better than nothing.
• Fix register 0x006 to be reported in revolutions as it previously was and as it is still documented
• Expose the drv8353 fault flags over the register protocol as registers 0x140 and 0x141

2022-11-18

• Encoder registers 0x050-0x054 now report positions and velocities in terms of revolutions instead of counts
• AS5600 support now reports the full resolution instead of omitting the lower 8 bits
• External motor temperature can now be sensed and used for power limiting
• When in fixed voltage mode, servo.bemf_feedforward is used. This can allow gimbal control mode to operate at any speed, and AC induction motors to be operated in open loop V/Hz mode.
• Use dwarf-4 debugging symbols, so gdb will actually work

2022-08-03

• Properly handle hall effect encoder sources that have a non-zero offset

2022-07-30

• Fix servo.max_power_W to not half an implicit factor of 0.5x
• Add servo.bemf_feedforward, which applies a feedforward voltage in proportion to the commanded velocity and motor Kv rating
• Improve ADC initialization to be robust to new compiler optimizations