Release v0.5.0

New 🎉

• All fault states of IMCs are printed instead of the first (#271)
• Allow joints to go past its soft limits instead of erroring immediately and allowing them to push back (#277)
• Add ethercat master watchdog, which will close ethercat when slaves have been lost for a certain amount of time
• Add new inertia controller, which is not yet the default

Fix 🔥

• Fix writing SW files (#272)
• Replace controller_spawner with controller_manager to allow for better shutdown (#280)
• fix test joint configuration to use effort control

Release v0.4.0

Compatible with ethercat-slaves v1.0.0.

New 🎉

• Only update controllers when new data is available (#243)
• Add dependency injection for better tests (#244)
• Add reset argument (#245)
• Increase ethercat thread priority (#246)
• Add SDO read functions (#248)
• Print all IMotioncubes that go into fault state (#251)
• URDF joint consistency check (#252)
• Writing IMc configuration file (sw file) over ethercat (#253 #257)
• Use of incremental encoders for estimating velocity and position (#255)
• Read velocity from IMC (#258)
• Joint state published at 250Hz (#261)
• Add ethercat interface (#262)
• Add PDO sub-index mapping (#264)
• Joint names are alphabetically sorted in yaml (#265)
• Fixed file naming and added modules (#268)

Fix 🔥

• Motor voltage reading (#247)
• Fixed naming inconsistencies in PDB config (#260)

Release v0.3.0

New

• Default effort control instead of position control 🎉
• Custom exceptions with error codes documented on https://project-march.github.io/tutorials/doc/using_the_march_exoskeleton/error_codes.html
• Added reading incremental encoders and calculating more precise velocities using them
• Added coverage reports and tests

Fixes

• Refactored MarchHardwareInterface
• Fix control loop cycle time to always be a multiple of the ethercat cycle time
• Fix ethercat cycle by using std::chrono instead of boost::chrono and using std::atomic variables
• Stop ethercat as soon as motor controller fails

Release v0.2.0

Fixes

• Renamed march4cpp namespace to march (#196)
• Fixed pdo register bug (#197)
• Fixed some inconsistent naming (#200)
• Fixed time stamp header in imu messages (#203)

First release

v0.1.0

Merge branch 'release-v0.1.0'