All notable changes to this project will be documented in this file.
The format is based on Keep a Changelog and this project adheres to Semantic Versioning.
The version numbers are referenced to the git tags.
- CommandOverEthernet lateral movement addition and battery state fix
- Documentation
- Support for current control selection in GRBLE actuators
- A way for users to set unwrapOffset when the SDK is keeping track of a gear ratio
- Starter, Waddle, and RockNRoll Minitaur examples
- CommandOverEthernet ethernet read() function simultaneous driver and application access
- Better kinematic velocity estimate (accounts for body twist)
- Improved bound initialization, leg angle offsets, turning control
- Improved walk leg angle offsets, higher damping, speedDes rate limiter
- CommandOverEthernet example custom state copy callback
- PWM duty = -1 bug on grble0.1
- CommandOverEthernet example error checking
- CommandOverEthernet example
- Ethernet support through file I/O
- Joystick range (command limiter) bug fixed
- Aux serial port access for users
- Position unwrap bug in high-gear-ratio instances
- ReadRobot example (faster logging using Peripheral)
- Bad static libs
- Microsecond clock time on the microcontroller
- Ability to configure serial port settings for the programming micro USB port
- Other internal changes not ready for release
- Support and documentation for user I2C
- Support and documentation for user digital I/O
- Full support for joysticks in simulation
- Gait work for NGR
- Support for Minitaur E new variant with upgraded electronics
- CI-built ARM libs
- Full support for Taranis Q X7 joystick
- microsecond counter overflow bug causing behavior updates to stop after 71 minutes
- support for gamepad joysticks in simulations (partial) #38
- support for Dynamixel protocol 1 (partial)
- support for Dynamixel protocol 2 (full)
- support for async Dynamixel update in PWM or POSITION modes #31
- posture controller support for 2DOF legs
- posture controller support for leg pairs with 3DOF legs
- S.bus driver full support
- ioctl support for body LED lighting
- ioctl support for switching radio receiver
- Gait work in progress
- posture controller (internal)
- sim implementation (internal)
- ROS translation updates
- various other updates
- Better VN100 parameters, switched to hardware filter
- improved urdf (internal)
- compiles with Visual C++ compiler
- Sbus driver partial #20
- SmartPort driver partial #21
- "None" architecture external physics engine support partial
- PWM FrSKY support (Taranis Q7)
- Lowpass for pose z control using the remote
- Slightly increased default yaw sensitivity
- issue #17 - may interfere with mbm (to test)
- updated FirstHop example with analog reading
- new robot type (internal)
- ioctl can now read analog sensors
- ioctl(ADC_FILENO, ...) cannot be called from Peripheral::update(). Call from debug() for now.
- Documentation related to Python installation
- FrSKY X7 remote option
- way for users to change remote type between init() and begin()
- started b3 integration (internal)
- new urdf (internal)
- JoyType_NONE option so users can supply their own BehaviorCmd
- HexapodGait example: tutorial coming soon
- docs image of joystick had axes 2, 3 flipped #11 a6f4109
- some warnings in MCUClass.cpp compilation 314f9a5
- cmake build flags for mbm were actually still wrong; now fixed and tested c229d9b
- JoySerial button mapping from Android app was reversed b499fea
- Walk minor adaptations on mbm
- Low pass filter for JoySerial inputs from Android app
- SoftStart for Minitaur E
- HexapodGait example and documentation
- Better joystick documentation #11
- More ioctl functionality
- Internal cmake build for mbm, relay mode, eeprom settings
- Peripheral::begin() called in begin() #8
- ioctl initial implementations for joystick, I2C, SPI (alpha)
- Docs update
- internal changes
- Changelog is back (git tag notes won't make it to users)
- Docs update
- Everything before this