Jrk G2 software

www.pololu.com

This repository contains the source code of the configuration and control software for the Jrk G2 USB Motor Controllers with Feedback. There are two programs: the Pololu Jrk G2 Configuration Utility (jrk2gui) and the Pololu Jrk G2 Command-line Utility (jrk2cmd).

Installation

Installers for this software are available for download from the Jrk G2 user's guide.

See BUILDING.md for information about how to compile the software from source.

Version history

• 1.4.1 (2023-07-05):
  • Fixed the feedback wizard so it is readable at 125% DPI on Windows. Also improved the size calculations for both wizards and got rid of the fixed size, specifying a minimum size instead.
• 1.4.0 (2019-03-05):
  • If the product specified in the settings file does not match the Jrk you are applying those settings to, the software will now fix the settings to have default values for the hard current limit, VIN calibration setting, and current calibration settings. This makes it much easier to create a settings file that can work with different Jrk products without requiring the user to edit the file.
  • Three new API functions: jrk_settings_fix_and_change_product, jrk_settings_set_firmware_version, and jrk_settings_get_firmware_version.
  • Switch to a new code/driver signing certificate for Windows.
• 1.3.0 (2018-07-20):
  • Added support for the new Jrk G2 21v3.
  • Added jrk_reinitialize_and_reset_errors which behaves like the reinitialize command from the original Jrks: it clears all the latched errors and sets the "Awaiting command" error if the input mode is serial.
  • Changed jrk_restore_defaults to use jrk_reinitialize_and_reset_errors so that the software still stop the motor when you restore to the default settings.
  • Added --target-relative option to jrk2cmd.
• 1.2.0 (2018-06-25):
  • Jrk G2 Configuration Utility (jrk2gui):
    • Major changes to the graph window:
      • You can now set the scale and vertical position.
      • Each visible plot now has an arrow indicating its zero position, and arrows to indicate if it is overflowing above or below the graph.
      • You can click on a plot or its arrows in order to select it, and then:
        • Use the mouse wheel to zoom that plot in or out, or
        • Use the mouse to drag it up and down.
      • New buttons for resetting the position and scale.
      • You can change plot colors.
      • You can change the graph to use a dark theme.
      • You can save and load graph settings files now.
      • The Y axis is no longer labeled.
      • Fixed a bug that would cause memory leaks while the graph is paused.
    • Change the 'Manually set target box':
      • Made it visible from any tab.
      • Made is use a slider control instead of a scrollbar.
      • Added a "Center" button.
    • Input wizard:
      • Added a "Skip" button to skip the step of learning the neutral point.
      • Changed it to be much more like the feedback wizard.
    • Display the dead zone in the input scaling tab.
    • Added the "Variables" window.
    • Added the "Info" tab and moved some information from the status tab to there.
    • Show two digits after the decimal point for the "Raw current" variable in the Status tab and allow its graph to show more resolution as well.
    • Bug fixes:
      • Fix some bugs in the controls for setting the hard current limits and soft current limits.
      • Fix a bug where the "Graph" command in the "Window" menu would not succeed if the graph was minimized.
      • Fix a bug where the range of the target scroll bar and the corresponding number entry would not get updated when you click "Apply settings", changing the feedback mode.
      • Fix a bug where the target scroll bar was not being updated when you type a target in and press Enter.
      • Fix a bug where you could enter "0" as a deceleration limit (but the GUI would warn you and prevent that setting from being applied).
    • Several other minor changes and bug fixes.
  • Jrk G2 Command-line Utility (jrk2cmd):
    • Make the --run and --target options work together properly.
    • Expand the allowed range of --speed arguments to -2048 to 2047, making it useful for frequency feedback.
• 1.1.0 (2018-04-25):
  • Added the ability to change the GUI font size using the JRK2GUI_FONT_SIZE variable.
  • Fixed compilation issues on Ubuntu and macOS.
  • Changed the GUI to use Qt's Fusion theme on non-Windows platforms.
  • Increased the width of the Feedback Wizard.
  • Added scripts to build Linux and macOS installers.
• 1.0.0 (2018-04-20): Original release.