Release Notes

🔖 Release 7.3.0

7.3.0 (2025-10-31)

Bug Fixes

adapt the limit in the positon control script (3e9012e)

add transition from homeState to setup (70cbedb)

added of spring assist for minverse (c9011b7)

adjusting center of mass (min) (f45a8e2)

calib and speed assist param (0789632)

calibration and calib notification (4818f97)

cartesian velocity (0051a78)

Changed LED pwm freq that was messing up with sensors! (2acfb25)

Changed torque constant to 162.5 and removed *1.1 in robot.cpp for anti-gravity (07fe0de)

CI (2a4b485)

ci: adjust pipelines for the new dev hub (cf13776)

cleaning up the merges (9ba809d)

compile error (ad60e77)

compile for inv3 (14986f4)

compile for inv3 (8707d90)

compute communication frequency and better com link with screen. (76bb75f)

current control period (inv3) and adc reading (176cb85)

current read adc fix (3ec102d)

current sensing architecture (4098427)

differrent notification intensity based on device type (ab782f2)

disable the springAssist during the force safety (b36acea)

doesn't try to go home more than 3 times (b5fea64)

eliminate oscillations at the home position (ddf2bc4)

encoder resolution and inkwell position (f8dff65)

fix debug firmwares (dce4a8b)

for LED with safety when we return in idle mode (a56bc7f)

force direction (b88e11f)

forceScaling base and boost to 1.0f for now (3cd18a4)

get rid of _statusState + coherency in states name (80755ed)

get rid of ix + some clean up (4f3fb01)

High velocity damping (df1714c)

https on firmware links (3ef72d4)

ifndef header typo (1eea797)

improve naming coherency between devices (da84f94)

improve security when you unplug/plug the power supply (bed00b7)

improved safety, emergency brake and soft damping (37561b5)

inkwell lower bound less permissive (dd2222a)

issue in propagation of config. (7874636)

led behavior (6f6d9ce)

led color during joint control (26b9361)

line to low for alex's sensors (663ae96)

maping minverse to inverse (386b4d5)

Minverse do not reset IMU on device setup command (7c0be5d)

Minverse only calibrate in calibration position (428b812)

modify gravity compensation through an http request (27d9cc1)

modify led logic implementation (582dbed)

more coherency in angle control pid (9705749)

more explicit condition in angle control (a92e718)

more modularity to define hardware pins (encoders, motors, current sensing) (9714a63)

more permissive on the imu for minverse calibration (720df48)

motor direction (MIN) (dc5e7a0)

new class for math operations on vectors (90476d0)

new UML documents (0b64319)

no more hitting himself while rth (bfe260d)

no more shaking while at home position (e06f312)

not picking last version in ci. (293e09f)

notification when user drop the cursor at home position (bfa790d)

only 2 try to go home (was 3) (fbf8131)

pid parameters and motors direcrion (Minverse) (GC & SA off) (d63acd1)

pid tuning for angle control (db169f8)

pwm to 90k to fix the hiii noise (1d77536)

refactor stall detection (no action taken yet) (a8277d9)

remap accel (min) (520a2e7)

remove functions that were no longer used (1990075)

remove instability in the xy plane in position control (minv) (74a480e)

remove top-layer active/inactive states (871ceeb)

removed iX from ci (d453463)

removed notification when you drop the device at home position (d1ef319)

removed pre-engineering versions (4807622)

removed stability assist (01f7316)

return to home for inv3 with vel computation (ba73e46)

revert commit for the gravity comp http request (f658820)

robot no longer keeping position after position control (e62a1b5)

safety adjustment on device inverse 3x (6013f17)

safety not handled device, improve (359cb44)

safety parameters (f899bb6)

same PID for angle control (b42746e)

screen communication and RTH instantly after a demo (2506bf1)

script improve for the FSM and state machine update in docs (a46f851)

sensor b_ok only displayed on motor 0 (2e67202)

shaking while home (648011d)

slightly improved safety value (9bffa06)

speed limit for inv3 (1f6dd6e)

type error (42c894b)

typo (7cbb419)

undefinned reference syntaxe error (e3dea87)

unified version in CI (4f1ff6f)

unifying .ino since they are both using adc_chained now (c0c80e6)

update hid protocol to move smoother (c32b96e)

update jointSpringAssist parameters (165a3ce)

update the regex on version number. (9699b9a)

user interupt threshold based on device type (298f9d2)

using adc_chained for inverse3 (5d05444)

using flexpwm on inverse3 (93ce726)

value for 3X on safety (c5031b0)

velocity estimation computation frequency to 200Hz (87067de)

velocity for minverse (1263c01)

with communication working (e26f112)

Features

ADC chained class now works on both Inverse3X et Inverse3! (8ec6bf8)

Added a piece of code that allows you to debug sensor's gain without unplugging it from the teensy! (3122a5b)

added stall detector module (b113cc9)

adding a script to test position control (9e3fbab)

adding new environment for HID (41cbc6c)

adding UML view by script (9393d74)

device hold a custom handle at home positon (3383a20)

Extended encoder debug feature to encoders 1 and 2. (0970684)

gravity comp and vibration thresh to 20Hz (b6bbe91)

HID communication (dc6c48c)

HID communication implemented (10c2bd9)

implementation of an HID protocol (eeee6ff)

integrating minverse (42d6cb3)

new UML global project generator, still trying to find the best parsing method to include everything (a03084d)

now the teensy reads the counter only up to 8, and displays an error message on sensor fault. (d2bd48f)

Power pin is now read using ADC to measure voltage and it is compared to 1000 to assert valid power input. (2998dae)

refactor simulation states + fix led behavior while switching form force to position control in the same simulation (9a42161)

return to home (7e9ee3a)

return to home and popout on inv3 and inv x (f2f6f5a)

speed limit (f7a8445)

stabilityAssist (1d4ff00)

trying to run the firmware at 32kHz. perf: Improving vectflags performance by avoiding useless string copy and precaching array pointer. (3dae4f7)

Performance Improvements

AG functions split in 6, so it updates AG every 6 frames. all seems to run at 31.25 (4234ae8)

further optimizing robot class and robot_math. (55ffca1)

less matrix copy when uneccessary + no double transpose no more... (8e129b7)

rewrote robot.location_joint to c/c++ standards (c91bc66)

robot class can now run at 32kHz. (648ca23)

robot class has now a transpose_no_copy function to make it faster! (3833e2c)

robot class now doesn't do string compares at I don know how many khz..... And we're getting closer to 32kHz: Achieved 26kHz. (ea30402)

All Downloads

All available downloads for this release:

Device Firmware 7.3.0 InverseX

Artifacts: inverse-firmware_InverseX.zip

Download

Device Firmware 7.3.0 Inverse3

Artifacts: inverse-firmware_Inverse3.zip

Download

Device Firmware 7.3.0 Minverse

Artifacts: inverse-firmware_Minverse.zip

Download

← Back to dfw releases

Release Notes

🔖 Release 7.3.0

7.3.0 (2025-10-31)

Bug Fixes

adapt the limit in the positon control script (3e9012e)

add transition from homeState to setup (70cbedb)

added of spring assist for minverse (c9011b7)

adjusting center of mass (min) (f45a8e2)

calib and speed assist param (0789632)

calibration and calib notification (4818f97)

cartesian velocity (0051a78)

Changed LED pwm freq that was messing up with sensors! (2acfb25)

Changed torque constant to 162.5 and removed *1.1 in robot.cpp for anti-gravity (07fe0de)

CI (2a4b485)

ci: adjust pipelines for the new dev hub (cf13776)

cleaning up the merges (9ba809d)

compile error (ad60e77)

compile for inv3 (14986f4)

compile for inv3 (8707d90)

compute communication frequency and better com link with screen. (76bb75f)

current control period (inv3) and adc reading (176cb85)

current read adc fix (3ec102d)

current sensing architecture (4098427)

differrent notification intensity based on device type (ab782f2)

disable the springAssist during the force safety (b36acea)

doesn't try to go home more than 3 times (b5fea64)

eliminate oscillations at the home position (ddf2bc4)

encoder resolution and inkwell position (f8dff65)

fix debug firmwares (dce4a8b)

for LED with safety when we return in idle mode (a56bc7f)

force direction (b88e11f)

forceScaling base and boost to 1.0f for now (3cd18a4)

get rid of _statusState + coherency in states name (80755ed)

get rid of ix + some clean up (4f3fb01)

High velocity damping (df1714c)

https on firmware links (3ef72d4)

ifndef header typo (1eea797)

improve naming coherency between devices (da84f94)

improve security when you unplug/plug the power supply (bed00b7)

improved safety, emergency brake and soft damping (37561b5)

inkwell lower bound less permissive (dd2222a)

issue in propagation of config. (7874636)

led behavior (6f6d9ce)

led color during joint control (26b9361)

line to low for alex's sensors (663ae96)

maping minverse to inverse (386b4d5)

Minverse do not reset IMU on device setup command (7c0be5d)

Minverse only calibrate in calibration position (428b812)

modify gravity compensation through an http request (27d9cc1)

modify led logic implementation (582dbed)

more coherency in angle control pid (9705749)

more explicit condition in angle control (a92e718)

more modularity to define hardware pins (encoders, motors, current sensing) (9714a63)

more permissive on the imu for minverse calibration (720df48)

motor direction (MIN) (dc5e7a0)

new class for math operations on vectors (90476d0)

new UML documents (0b64319)

no more hitting himself while rth (bfe260d)

no more shaking while at home position (e06f312)

not picking last version in ci. (293e09f)

notification when user drop the cursor at home position (bfa790d)

only 2 try to go home (was 3) (fbf8131)

pid parameters and motors direcrion (Minverse) (GC & SA off) (d63acd1)

pid tuning for angle control (db169f8)

pwm to 90k to fix the hiii noise (1d77536)

refactor stall detection (no action taken yet) (a8277d9)

remap accel (min) (520a2e7)

remove functions that were no longer used (1990075)

remove instability in the xy plane in position control (minv) (74a480e)

remove top-layer active/inactive states (871ceeb)

removed iX from ci (d453463)

removed notification when you drop the device at home position (d1ef319)

removed pre-engineering versions (4807622)

removed stability assist (01f7316)

return to home for inv3 with vel computation (ba73e46)

revert commit for the gravity comp http request (f658820)

robot no longer keeping position after position control (e62a1b5)

safety adjustment on device inverse 3x (6013f17)

safety not handled device, improve (359cb44)

safety parameters (f899bb6)

same PID for angle control (b42746e)

screen communication and RTH instantly after a demo (2506bf1)

script improve for the FSM and state machine update in docs (a46f851)

sensor b_ok only displayed on motor 0 (2e67202)

shaking while home (648011d)

slightly improved safety value (9bffa06)

speed limit for inv3 (1f6dd6e)

type error (42c894b)

typo (7cbb419)

undefinned reference syntaxe error (e3dea87)

unified version in CI (4f1ff6f)

unifying .ino since they are both using adc_chained now (c0c80e6)

update hid protocol to move smoother (c32b96e)

update jointSpringAssist parameters (165a3ce)

update the regex on version number. (9699b9a)

user interupt threshold based on device type (298f9d2)

using adc_chained for inverse3 (5d05444)

using flexpwm on inverse3 (93ce726)

value for 3X on safety (c5031b0)

velocity estimation computation frequency to 200Hz (87067de)

velocity for minverse (1263c01)

with communication working (e26f112)

Features

ADC chained class now works on both Inverse3X et Inverse3! (8ec6bf8)

Added a piece of code that allows you to debug sensor's gain without unplugging it from the teensy! (3122a5b)

added stall detector module (b113cc9)

adding a script to test position control (9e3fbab)

adding new environment for HID (41cbc6c)

adding UML view by script (9393d74)

device hold a custom handle at home positon (3383a20)

Extended encoder debug feature to encoders 1 and 2. (0970684)

gravity comp and vibration thresh to 20Hz (b6bbe91)

HID communication (dc6c48c)

HID communication implemented (10c2bd9)

implementation of an HID protocol (eeee6ff)

integrating minverse (42d6cb3)

new UML global project generator, still trying to find the best parsing method to include everything (a03084d)

now the teensy reads the counter only up to 8, and displays an error message on sensor fault. (d2bd48f)

Power pin is now read using ADC to measure voltage and it is compared to 1000 to assert valid power input. (2998dae)

refactor simulation states + fix led behavior while switching form force to position control in the same simulation (9a42161)

return to home (7e9ee3a)

return to home and popout on inv3 and inv x (f2f6f5a)

speed limit (f7a8445)

stabilityAssist (1d4ff00)

trying to run the firmware at 32kHz. perf: Improving vectflags performance by avoiding useless string copy and precaching array pointer. (3dae4f7)

Performance Improvements

AG functions split in 6, so it updates AG every 6 frames. all seems to run at 31.25 (4234ae8)

further optimizing robot class and robot_math. (55ffca1)

less matrix copy when uneccessary + no double transpose no more... (8e129b7)

rewrote robot.location_joint to c/c++ standards (c91bc66)

robot class can now run at 32kHz. (648ca23)

robot class has now a transpose_no_copy function to make it faster! (3833e2c)

robot class now doesn't do string compares at I don know how many khz..... And we're getting closer to 32kHz: Achieved 26kHz. (ea30402)

All Downloads

All available downloads for this release:

Device Firmware 7.3.0 InverseX

Artifacts: inverse-firmware_InverseX.zip

Download

Device Firmware 7.3.0 Inverse3

Artifacts: inverse-firmware_Inverse3.zip

Download

Device Firmware 7.3.0 Minverse

Artifacts: inverse-firmware_Minverse.zip

Download

← Back to dfw releases