Add options 'deadzone' for endpoints and 'max_calib_koef' for motor #761
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…ble via motor.config.max_dc_calib_koef (default value 0.1f)
New attributes for ODrive.Endpoint: deadzone_min, deadzone_max, deadzone_value. Wors for `fractions' from 0.0 to 1.0 as follows: - when deadzone_min >= deadzone_max (default), result is linear interpolation between (0.0, min) and (1.0, max) (old behaviour); - when fraction < deadzone_min, result is linear interpolation between (0.0, min) and (deadzone_min, deadzone_value); - when fraction > deadzone_max, result is linear interpolation between (deadzone_max, deadzone_value) and (1.0, max); - otherwise, result is deadzone_value.
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The option 'deadzone' consists of three new attributes of ODrive.Endpoint: deadzone_min, deadzone_max, deadzone_value.
It is useful when PWM/ADC signal is used for e.g. set velocity, and can't be set precisely to get motor stopped (usually exactly middle of full range). In this case, one can add attribute values for corresponding endpoint as deadzone_min=0.4, deadzone_max=0.6, deadzone_value=0.0, so when input signal (fraction) is between 0.4 and 0.6, then output to endpoint will be exactly zero.
The option 'max_dc_calib_koef' make configurable (now hardcoded) value 0.1f -- a threshold for current measurements to be accounted as correct. It can be useful in rare cases of bad quality and/or compatibility of hardware parts, in which cases slight extending of threshold can be helpful. Or, maybe one might want to decrease threshold to have more failure-awared configuration.