Release Notes
- Hardware: V0.2.1
- Firmware: V0.1.2
Note
Hardware revisions V0.2.0 and V0.2.1 are compatible with this firmware.
Currently, the relationship between current (the value we set) and torque (the value the brake will take on) has a monotonic nonlinear relationship. Future versions will attempt to take a calibration curve and incorporate it into the control scheme such that we can set a desired torque instead of a desired current.
Tests
- Confirmed that the overtorque detection takes effect at the extremes of the sensor measurements.
- Confirmed that the overtorque detection can be reset.
- Confirmed that aggregate data can be read over Harp Protocol
- Confirmed that brake settings can be changed via Harp Protocol
- Confirmed OK to disconnect the brake while enabled ("hot-plug") without damaging the electronics.
Hardware Design Files
KiCAD Source files are available in the main repository. Exported Gerbers, position files, and an exported BOM of this version are available below. (Regenerating these files can be done from within KiCAD.)
Flashing the Firmware
Plug the device into a PC with the BOOTSEL button pushed down. After plugging in the device, release the BOOTSEL button. The device will appear as a USB Flash drive. Drag-and-drop the white_rabbit.uf2 file into the mass storage device, and it will disappear.
Power-cycle the device by unplugging it and plugging it back in. The device is now ready to go with new firmware.
Note
After firmware has been initially uploaded once, it is possible to put the device into a bootloader mode where it can accept new firmware via Harp protocol.