Welcome to Tinymovr documentation!ΒΆ
Note
This is the documentation for the latest stable version of the Tinymovr Firmware and Studio app. For the legacy 0.x.x documentation, check out the [legacy docs](https://tinymovr.readthedocs.io/en/attic-legacy/).
Note
In all examples, the first intance of the found motor controller is used, namely tm1. If working with subsequent instances, please replace with the correct index, e.g. instead of tm1 use tm2, tm3 etc.
Contents:
- From Unbox to First Spin
- Hardware Overview
- Hardware Setup
- Studio Installation
- Studio Usage
- Integrating Tinymovr
- Comm Interfaces
- Sensors and Encoders
- Features
- Upgrading Firmware
- Gimbal Motors
- PID Tuning
- Control Principles
- Troubleshooting
- Developers
- Hardware Errata
- API REFERENCE
- protocol_hash
- uid
- fw_version
- hw_revision
- Vbus
- Ibus
- power
- temp
- calibrated
- errors
- warnings
- save_config() -> void
- erase_config() -> void
- nvm.num_slots
- nvm.current_slot
- nvm.write_count
- reset() -> void
- enter_dfu() -> void
- config_size
- scheduler.load
- scheduler.warnings
- controller.state
- controller.mode
- controller.warnings
- controller.errors
- controller.position.setpoint
- controller.position.p_gain
- controller.velocity.setpoint
- controller.velocity.limit
- controller.velocity.p_gain
- controller.velocity.i_gain
- controller.velocity.deadband
- controller.velocity.increment
- controller.current.Iq_setpoint
- controller.current.Id_setpoint
- controller.current.Iq_limit
- controller.current.Iq_estimate
- controller.current.bandwidth
- controller.current.Iq_p_gain
- controller.current.max_Ibus_regen
- controller.current.max_Ibrake
- controller.voltage.Vq_setpoint
- calibrate() -> void
- idle() -> void
- position_mode() -> void
- velocity_mode() -> void
- current_mode() -> void
- set_pos_vel_setpoints(float pos_setpoint, float vel_setpoint) -> float
- comms.can.rate
- comms.can.id
- comms.can.heartbeat
- motor.R
- motor.L
- motor.pole_pairs
- motor.type
- motor.calibrated
- motor.I_cal
- motor.errors
- sensors.user_frame.position_estimate
- sensors.user_frame.velocity_estimate
- sensors.user_frame.offset
- sensors.user_frame.multiplier
- sensors.setup.onboard.calibrated
- sensors.setup.onboard.errors
- sensors.setup.external_spi.type
- sensors.setup.external_spi.rate
- sensors.setup.external_spi.calibrated
- sensors.setup.external_spi.errors
- sensors.setup.hall.calibrated
- sensors.setup.hall.errors
- sensors.select.position_sensor.connection
- sensors.select.position_sensor.bandwidth
- sensors.select.position_sensor.raw_angle
- sensors.select.position_sensor.position_estimate
- sensors.select.position_sensor.velocity_estimate
- sensors.select.commutation_sensor.connection
- sensors.select.commutation_sensor.bandwidth
- sensors.select.commutation_sensor.raw_angle
- sensors.select.commutation_sensor.position_estimate
- sensors.select.commutation_sensor.velocity_estimate
- traj_planner.max_accel
- traj_planner.max_decel
- traj_planner.max_vel
- traj_planner.t_accel
- traj_planner.t_decel
- traj_planner.t_total
- move_to(float pos_setpoint) -> void
- move_to_tlimit(float pos_setpoint) -> void
- traj_planner.errors
- homing.velocity
- homing.max_homing_t
- homing.retract_dist
- homing.warnings
- homing.stall_detect.velocity
- homing.stall_detect.delta_pos
- homing.stall_detect.t
- home() -> void
- watchdog.enabled
- watchdog.triggered
- watchdog.timeout