Moteus

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.

* Support moteus-c1
* Properly detect board hardware when DC input turn-on slew is very slow

* Implement `servo.max_velocity_slip` - this can be used to ensure acceleration limits are obeyed when control is saturated in velocity mode
* Support re-capturing position and velocity while in control mode with the "recapture position and velocity" command

* Resolve an issue that resulted in fault 33 always being reported on r4.5 and earlier boards

* Fix a problem that triggered fault 37 if a configured I2C device was disconnected or had an intermittent failure

Required moteus_tool: >= 0.3.65 (`python -m pip install --upgrade moteus`)

Major Changes

* Resolve robustness issues that prevented I2C encoders from being used as the commutation or output encoder. Their use for output disambiguation worked reliably before and still does.
* Switch I2C encoder polling rate configuration to be measured in microseconds rather than milliseconds. An up-to-date `moteus_tool` is required to flash this firmware as a result. It will properly migrate configuration on upgrade.
* When in position-timeout mode, ignore user commands completely. This was always the intended behavior, but became broken with the addition of acceleration and velocity limits. As a result of the defect, commands that resulted in non-zero control velocities could result in user initiated torque.

Minor Changes

* Configure AS5600 encoders to disable their internal filters.
* Improve robustness of the encoder filter by preventing velocities from becoming too large.
* If a hard-fault is triggered, perform a 2-flash pattern on the red LED
* If firmware errors cause data to be written to the 0 page, report the fault as an incrementing counter `system_info.mem_fault` rather than as a error when attempting to perform `conf write`.
* Ensure that `motor_position` configuration is updated to match auxiliary port configuration changes. This mostly means that encoder filter bandwidth limits are properly lowered if the polling rate of auxiliary sensors is decreased.