Firmware version 0.4.5

[0.4.5] - 2018-10-06

Added

• Trapezoidal Trajectory Planner
• Hook to execute protocol property written callback
• -Wdouble-promotion warning to compilation

Changed

• Make python tools compatible with python 2.7 (so it can be used with ROS)
  • Threading API constructor can't take the daemon parameter, so all thread creation had to be expanded out.
  • TimeoutError isn't defined, but it makes for more readable code, so I defined it as an OSError subclass.
  • ModuleNotFoundError is replaced by the older ImportError.
  • Print function imported from future
• Using new hooks to calculate:
  • motor.config.current_control_bandwidth
    • This deprecates motor.set_current_control_bandwidth()
  • encoder.config.bandwidth
• Default value for motor.resistance_calib_max_voltage changed to 2.0

Fixed

• An issue where the axis state machine would jump in and out of idle when there is an error
• There is a bug in the arm fast math library, which gives spikes in the output of arm_cos_f32 for input values close to -pi/2. We fixed the bug locally, and hence are using "our_arm_cos_f32".