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BinghamtonRover / Arm-Firmware

Arduino IDE sketches to run on a Teensy MCU and control the rover arm and gripper
https://binghamtonrover.github.io/arm-firmware/
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Learn how to detect slips and stalls #18

Open Levi-Lesches opened 2 years ago

Levi-Lesches commented 2 years ago

With the test arm unable to hold its own weight, we've learned that it's important to have a way to detect slips and automatically calibrate when needed. This applies to times when the arm suddenly slips under its own weight and when it stalls while trying to move.

See StepperMotor.didStall() for an untested implementation.

This issue falls under the general category of "get to know your TMC driver".

Levi-Lesches commented 1 year ago

Nathaniel is taking a look at this for now.