v0.13.2

This version of fastcat propagates working counter faults from jsd up to fastcat. This prevents fastcat from losing track of the state of the jsd bus and secondary faults to occur later on

Elmo Platinum's offline driver fix

Fixes a bug in the Elmo Platinum actuator's offline driver which caused the driver to be in fault state always.

v0.13.0

Add support for interpolation of CSP commands:

• Updates command set point based on feed forward "velocity offset" term:
• During initial execution of command, account for latency between when command was issued from calling module and when command is processed in fastcat
• In Process Loop, update target position using same logic as used in initial execution of command
• Augments CSP command to add request_time, which would be filled out by calling module
• Reject new CSP commands if request_time is stale (request time was more than 5 fastcat loop periods ago). A stale request can happen if calling module does not properly fill out request_time field or if the two modules do not have synchronized clocks.

v0.12.19

This release resolves issues with the lower level jsd software where the EL1008 and EL2809 were not recognized properly.

Actuator driver fixes and enhancements

Makes the following changes to Actuator drivers:

• Fixes issue with indexing when processing SDO responses.
• Adds interface to set the maximum time the driver will wait in PROFILE_DISENGAGING before faulting. This allows to temporarily increase such time to accommodate an initial commutation search of motors without hall sensors.

v0.12.17

Offline EL2809 device was not referenced in the manager file. This resulted in this device not being recognizable when parsing a yaml configuration.

Update JSD dependency to v3.0.0

Updates the release version of the JSD dependency to v3.0.0. With JSD v3.0.0 the product code in JSD driver configurations is replaced with driver type. Additionally, the JSD release includes the driver for the Elmo Platinum motor controller when it operates in SIL mode, and it renames the original EPD JSD driver functions and types from *_epd_* to *_epd_nominal_*.

v0.12.15

In this release, we bump the jsd version to resolve a bug associated with the method of halting the elmo gold drive

v0.12.14

This version includes fixes and modifications to the three node thermal model. It also includes some fixes to allow the El2809 module to be used.

EL2809 and EL1008 Driver Accommodation

This new release of fastcat includes software to utilize the EL2809 (24V digital output) and EL1008 (digital input) drivers.