Releases: LeoRover/core2_firmware
v0.2
Summary
- add torque limit parameter
- update servo parameters default values
A detailed description of changes:
add torque limit parameter
You can now specify the power limit in params.h file. This value limits power depending on actual speed (e.g. the value of 800 means that power is limited to 80% at 0% speed, 90% at 10% speed, etc). By default, it is set to 800.
update servo parameters default values
Default values for servo parameters were changed so that angles between -90 and 90 are translated to 1-2ms pulses. (0-degree angle is translated to 1.5ms pulse which is a neutral position for most servos)
v0.1
Summary
- add support for the informative LED
- add power limit parameter
- add debug variable
- check array length in PWM callback
A detailed description of changes:
add support for the informative LED
The firmware will inform about rosserial connection status through an LED connected to pin1 on hExt port (Can be changed in params.h file). It will blink with a period of 500ms when it is not connected and keep the LED on while it is connected.
add power limit parameter
you can now specify the power limit in params.h file. The value limits the applied voltage (PWM) to each motor (e.g. the value of 800 corresponds to 80% PWM duty). By default, it is set to 1000 (no limit).
add debug variable
By default, the firmware won't print any messages to hSerial port. This results in slight performance improvement. To enable debug messages, the project needs to be built with a CMake variable DEBUG set to true (when compiling with a VSCode husarion extension, you can do it by selecting Change Husarion project variable)