Puck Software

Puck Utility App

Puck Utility App is designed to help new users interact with the P4 Motor Controllers - update firmware, calibrate, read live data, and spin the motor all in one simple interface.

Head over to the Puck Utility App Guide for a full list of features + tips and tricks.

Clone the Puck Utility Git Repository to interact with the source code and create a custom application.

  • Download Linux Build - PuckUtilityApp-Linux-v1.2.1

    Download Windows Build - PuckUtilityApp-Windows-v1.2.1

    Changelog:

    • Updated Calibration routine for consistency and accuracy

    • Bugfixes for CLI usage (most importantly system-config.ini usage for in system upgrades)

    • Small visual interface changes

    Note: v1.2.1 is compatible with firmware v4.3.2 and later.

  • Download Linux Build - PuckUtilityApp-Linux-v1.2.0

    Download Windows Build - PuckUtilityApp-Windows-v1.2.0

    Changelog:

    • Overhaul to functionality on windows operating system (including tab/shift-tab)

    • Added hotkeys

    • API / Command Line interface for non-graphical functionality

    • New system-config.ini for full system updates (multi-puck system updates)

    • Logging for debugging purposes

    • Updated to default PDO mapping for compatibility with sandbox scripts 

    • Added flags to require configuration / calibration after updating / configuring

    • Spot check for product code matches prior to uploading configuration files

    • Progress bar for monitoring file upload status

    • Added EMCY Faults catch to alert of active fault states and idle the system. 

    Note: v1.2.0 is compatible with firmware v4.3.2 and later.

  • Download Linux Build - PuckUtilityApp-Linux-v1.1.4

    Download Windows Build - PuckUtilityApp-Windows-v1.1.4

    Change Log:

    • Added Gear Ratio handling from CANopen Object Dictionary

    • Displays Motor Current in place of Bus Voltage

    • Add slider for on/off of ADC Monitor

    • Handles i2t limiting firmware release

    • Various Bug Fixes

    Note: v1.1.4 is compatible with firmware v3.4.3 and later.

  • Download Linux Build - PuckUtilityApp-Linux-v1.1.3

    Download Windows Build - PuckUtilityApp-Windows-v1.1.3

    Change Log:

    • Added “Test Magnetic Encoder” step to calibration routine

    • Implemented test boundaries for all calibration steps to catch bad calibrations

    • Added error catch for failed upload of configuration files

    • Improved Gainfactor calibration by including Alpha / Beta bias in calculations

    • Improved smoothness of P4-16 by further stabilizing Alpha bias to reduce noise

    • Fixed bug where CAN bus dropped after updating firmware

  • Download Linux Build - PuckUtilityApp-Linux-v1.1.2

    Download Windows Build - PuckUtilityApp-Windows-v1.1.2

    Change Log:

    • Fixed missing functions for ‘Calibrate Active Puck’ and ‘Calibrate All Active Pucks’

  • Download Linux Build - PuckUtilityApp-Linux-v1.1.1

    Download Windows Build - PuckUtilityApp-Windows-v1.1.1

    Change Log:

    • Fixed known bugs with multi-node functionality and ADC Monitor

    • Improved CAN network efficiency

    • Added Multi-Puck Calibration for larger CAN networks

    • Added mode and target callbacks to improve functionality when switching between nodes

    • Updated position dial to display motor shaft output (previously displayed encoder position)

  • Download Linux Build - PuckUtilityApp-Linux-v1.1.0

    Download Windows Build - PuckUtilityApp-Windows-v1.1.0

    Change Log:

    • Initial Release

Puck Tuner App

Puck Tuner App is designed to help users tune P4 Motor Controllers for use with any motor. Add motor specifications, automatically calculate control gains, and export custom Motor Configurations all in one simple interface. Fine tune your control gains with sliders and live graph feedback for optimal control.

Head over to the Puck Tuner App Guide for a full list of features + tips and tricks on achieving the ideal tuning.

Coming Soon! Clone the Puck Tuner Git Repository to interact with the source code and add custom features.

  • Download Linux Build - PuckTunerApp-Linux-v1.2.0

    Download Windows Build - PuckTunerApp-Win32-v1.2.0

    Change Log:

    • Massive updates to windows for smooth GUI interaction (including tab/shift-tab)

    • Multi-Puck handling in the event multiple nodes are present

    • Calibration voltage / current selection

    • Current Step response tuning indicator with red/green to display usable current gains

    • Updated PDO Mapping to default values to enable functionality across all apps / scripts

    • Added thermistor settings to allow user to enable / disable thermistor and enter all parameters required for proper functionality with custom designs

    • Updated blank configurations with all latest parameters from fw v4.3.1 and fixed default PDO mappings to match the actual defaults unlike the previous version

    • Bugfixes, including issues with init config functionality, plotting glitches, and building configurations, as well as numerous smaller fixes

    • Added EMCY Faults catch to alert of active fault states and idle the system.  

    Note: v1.2.0 is compatible with firmware v4.3.2 and later.

  • Download Linux Build - PuckTunerApp-Linux-v1.1.0

    Download Windows Build - PuckTunerApp-Win32-v1.1.0

    Initial Release Features:

    • Current Step Response, Velocity, and Position Tuning

    • Live Velocity / Position Graph with adjustable parameters!

    • Selectable Motor Parameter Units

    • Velocity Response Graph for Visual Tuning

    • Control Gain + Zeta Damping for Fine Tuning

    • Automatic Control Gain Calculations

    • Sliders for Fine Tuning

    • Import / Export Configurations for easy updates + fine tuning

    • Set PWM Frequency (automatic configuration for ease of use)

    • Set Gear Ratio

    • Set Velocity Filter

    • Auto Detect P4 Model + Import Settings

    Note: v1.1.0 is compatible with P4 Firmware v3.4.4 and later.

Puck Fader App

Puck Fader App is designed to provide a quick and easy solution for position control. Simply connect to the system and a fader rack will initialize for each Puck on the bus, giving instant access to output position. Evaluate new systems easily with customizable settings for joint range, max torque, and gear ratio.

Clone the Puck Fader Git Repository to interact with the source code and create a custom application.

  • Download Linux Build - PuckFaderApp-Linux-v1.1.4

    Download Windows Build - PuckFaderApp-Windows-v1.1.4

    Change Log:

    • Added a popup error to handle missing config entries

    • Added hotkey defaults to ‘config.ini’ file

    • Added hotkey assignment buttons to the interface - updated hotkeys are automatically stored to as new default in config

  • Download Linux Build - PuckFaderApp-Linux-v1.1.3

    Download Windows Build - PuckFaderApp-Windows-v1.1.3

    Change Log:

    • Added Temperature Monitor

    • Added Default ‘config.ini’ file to support default values

    • Added Joint Name to frame layout

    • Reorganized structure to layout frames in order of config entries (not lowest to highest node ID)

    • Up to 20 Pucks can be controlled via default hotkeys

  • Download Linux Build - PuckFaderApp-Linux-v1.1.2

    Download Windows Build - PuckFaderApp-Windows-v1.1.2

    Change Log:

    • Initial Release

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