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2024-05-20
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@jpieper jpieper released this 21 May 00:49
0.1-20240520
f8c517f

New capabilities

  • The ilimit can now be scaled in addition to kp and kd on a per-command basis. This allows seamlessly switching between position and velocity mode even when an integrative term is configured.
  • Electrical power to (or from) the motor is now estimated and reported as servo_stats.power_W and register 0x007

Fixes

  • Fix many problems when motor_position.output.sign == -1, including BEMF feedforward and cogging torque compensation
  • Produce an error for many more malformed diagnostic mode commands, like d pos 0 0 f1

Compatibility

To flash this firmware, moteus_tool version 0.3.70 or newer is required.

Assets 4
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