mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-09-22 16:14:37 +08:00
Oskar Weigl
+16
-10
@@ -1,6 +1,6 @@
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# Parameters & Commands
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We will use the `<odrv>` as a placeholder for any ODrive object. In `odrivetool` this is usually `odrv0`. Furthermore we use `<axis>` as a placeholder for any axis (for example `odrv0.axis0`).
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We will use the `<odrv>` as a placeholder for any ODrive object. Every ODrive controller is an ODrive object. In `odrivetool` this is usually `odrv0`. Furthermore we use `<axis>` as a placeholder for any axis, which is an attribute of an ODrive object (for example `odrv0.axis0`). An axis represents where the motors are connected. (axis0 for M0 or axis1 for M1)
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## Per-Axis commands
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@@ -11,26 +11,27 @@ For the most part, both axes on the ODrive can be controlled independently.
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The current state of an axis is indicated by `<axis>.current_state`. The user can request a new state by assigning a new value to `<axis>.requested_state`. The default state after startup is `AXIS_STATE_IDLE`.
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1. `AXIS_STATE_IDLE` Disable motor PWM and do nothing.
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1. `AXIS_STATE_STARTUP_SEQUENCE` Run the [startup procedure](#startup-procedure).
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1. `AXIS_STATE_FULL_CALIBRATION_SEQUENCE` Run motor calibration and then encoder offset calibration (or encoder index search if `<axis>.encoder.use_index` is `True`).
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1. `AXIS_STATE_MOTOR_CALIBRATION` Measure phase resistance and phase inductance.
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2. `AXIS_STATE_STARTUP_SEQUENCE` Run the [startup procedure](#startup-procedure).
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3. `AXIS_STATE_FULL_CALIBRATION_SEQUENCE` Run motor calibration and then encoder offset calibration (or encoder index search if `<axis>.encoder.use_index` is `True`).
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4. `AXIS_STATE_MOTOR_CALIBRATION` Measure phase resistance and phase inductance of the motor.
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* To store the results set `<axis>.motor.config.pre_calibrated` to `True` and [save the configuration](#saving-the-configuration). After that you don't have to run the motor calibration on the next start up.
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* This modifies the variables `<axis>.motor.config.phase_resistance` and `<axis>.motor.config.phase_inductance`.
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1. `AXIS_STATE_SENSORLESS_CONTROL` Run sensorless control.
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5. `AXIS_STATE_SENSORLESS_CONTROL` Run sensorless control.
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* The motor must be calibrated (`<axis>.motor.is_calibrated`)
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* [`<axis>.controller.control_mode`](#control-mode) must be `True`.
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1. `AXIS_STATE_ENCODER_INDEX_SEARCH` Turn the motor in one direction until the encoder index is traversed. This state can only be entered if `<axis>.encoder.config.use_index` is `True`.
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1. `AXIS_STATE_ENCODER_OFFSET_CALIBRATION` Turn the motor in one direction for a few seconds and then back to measure the offset between the encoder position and the electrical phase.
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6. `AXIS_STATE_ENCODER_INDEX_SEARCH` Turn the motor in one direction until the encoder index is traversed. This state can only be entered if `<axis>.encoder.config.use_index` is `True`.
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7. `AXIS_STATE_ENCODER_OFFSET_CALIBRATION` Turn the motor in one direction for a few seconds and then back to measure the offset between the encoder position and the electrical phase.
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* Can only be entered if the motor is calibrated (`<axis>.motor.is_calibrated`).
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* A successful encoder calibration will make the `<axis>.encoder.is_ready` go to true.
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1. `AXIS_STATE_CLOSED_LOOP_CONTROL` Run closed loop control.
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8. `AXIS_STATE_CLOSED_LOOP_CONTROL` Run closed loop control.
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* The action depends on the [control mode](#control-mode).
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* Can only be entered if the motor is calibrated (`<axis>.motor.is_calibrated`) and the encoder is ready (`<axis>.encoder.is_ready`).
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### Startup Procedure
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By default the ODrive takes no action at startup and goes to idle immediately.
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This behavior can be changed by setting any of the following to `True`. The ODrive will sequence all enabled startup actions in the order shown below.
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In order to change what startup procedures are used, set the startup procedures you want to `True`.
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The ODrive will sequence all enabled startup actions selected in the order shown below.
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* `<axis>.config.startup_motor_calibration`
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* `<axis>.config.startup_encoder_index_search`
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@@ -49,6 +50,12 @@ Possible values are:
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* `CTRL_MODE_CURRENT_CONTROL`
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* `CTRL_MODE_VOLTAGE_CONTROL` - this one is not normally used.
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# Control Commands
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* `<axis>.controller.pos_setpoint = <encoder_counts>`
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* `<axis>.controller.current_setpoint = <current_in_A>`
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* `<axis>.controller.vel_setpoint = <encoder_counts/s>`
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### Tuning parameters
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The motion control gains are currently manually tuned:
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* `<axis>.controller.config.pos_gain = 20.0f` [(counts/s) / counts]
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@@ -78,4 +85,3 @@ All variables that are part of a `[...].config` object can be saved to non-volat
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* `<odrv>.serial_number`: A number that uniquely identifies your device. When printed in upper case hexadecimal (`hex(<odrv>.serial_number).upper()`), this is identical to the serial number indicated by the USB descriptor.
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* `<odrv>.fw_version_major`, `<odrv>.fw_version_minor`, `<odrv>.fw_version_revision`: The firmware version that is currently running.
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* `<odrv>.hw_version_major`, `<odrv>.hw_version_minor`, `<odrv>.hw_version_revision`: The hardware version of your ODrive.
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+20
-4
@@ -43,7 +43,7 @@ You will need:
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* A power supply (12V-24V for the 24V board variant, 12V-48V for the 48V board variant). A battery is also fine.
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<details><summary markdown="span">What voltage variant do I have?</summary><div markdown="block">
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On all ODrives shipped July 2018 or after have a silkscreen label clearly indicating the voltage variant.
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ODrives before this may or may not have this label. If you don't have a label, then you can look at the bus capacitors (8 gray cylinder components on the underside of the board). If they read 470uF, you have a 24V version; if they read 120uF you have a 48V version.
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</div></details>
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@@ -77,7 +77,7 @@ Most instructions in this guide refer to a utility called `odrivetool`, so you s
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3. Install dependencies by typing `pip install pywin32==222` <kbd>Enter</kbd>
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3. Install the ODrive tools by typing `pip install odrive` <kbd>Enter</kbd>
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4. Plug in a USB cable into the microUSB connector on ODrive, and connect it to your PC.
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5. Use the [Zadig](http://zadig.akeo.ie/) utility to set ODrive driver to libusb-win32.
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5. Use the [Zadig](http://zadig.akeo.ie/) utility to set ODrive driver to libusb-win32.
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* Check 'List All Devices' from the options menu, and select 'ODrive 3.x Native Interface (Interface 2)'. With that selected in the device list choose 'libusb-win32' from the target driver list and then press the large 'install driver' button.
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@@ -104,6 +104,20 @@ brew install libusb
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pip3 install odrive
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```
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__Troubleshooting__
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1. Permission Errors: Just run the previous command in sudo
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```bash
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sudo pip3 install odrive
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```
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2. Dependency Errors: If the installer doesn't complete and you get a dependency
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error (Ex. "No module..." or "module_name not found")
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```bash
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sudo pip3 install module_name
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```
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Try step 5 again
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### Linux
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1. [Install Python 3](https://www.python.org/downloads/).
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@@ -117,7 +131,9 @@ pip3 install odrive
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## Start `odrivetool`
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<div class="note" markdown="span">__ODrive v3.4 and earlier:__ Your board does not come preflashed with any firmware. Follow the instructions [here](odrivetool#device-firmware-update) before you continue.</div>
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<div class="note" markdown="span">__ODrive v3.5 and later:__ Your board should come preflashed with firmware. If you run into problems, follow the instructions [here](odrivetool#device-firmware-update) on the DFU procedure before you continue.</div>
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<div class="note" markdown="span">__ODrive v3.4 and earlier:__ Your board does __not__ come preflashed with any firmware. Follow the instructions [here](odrivetool#device-firmware-update) on the STP Link procedure before you continue.</div>
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To launch the main interactive ODrive tool, type `odrivetool` <kbd>Enter</kbd>. Connect your ODrive and wait for the tool to find it. Now you can for instance type `odrv0.vbus_voltage` <kbd>Enter</kbd> to inpect the boards main supply voltage.
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It should look something like this:
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@@ -165,7 +181,7 @@ You can read more about the odrivetool [here](odrivetool.md).
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* `odrv0.config.brake_resistance` [Ohm]: This is the resistance of the brake resistor. If you are not using it, you may set it to `0`.
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* `odrv0.axis0.motor.config.pole_pairs`: This is the number of **magnet poles** in the rotor, **divided by two**. You can simply count the number of permanent magnets in the rotor, if you can see them. _Note: this is not the same as the number of coils in the stator._
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* `odrv0.axis0.motor.config.motor_type`: This is the type of motor being used. Currently two types of motors are supported: High-current motors (`MOTOR_TYPE_HIGH_CURRENT`) and Gimbal motors (`MOTOR_TYPE_GIMBAL`).
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<details><summary markdown="span">Which `motor_type` to choose?</summary><div markdown="block">
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If you're using a regular hobby brushless motor like [this](https://hobbyking.com/en_us/turnigy-aerodrive-sk3-5065-236kv-brushless-outrunner-motor.html) one, you should set `motor_mode` to `MOTOR_TYPE_HIGH_CURRENT`. For low-current gimbal motors like [this](https://hobbyking.com/en_us/turnigy-hd-5208-brushless-gimbal-motor-bldc.html) one, you should choose `MOTOR_TYPE_GIMBAL`. Do not use `MOTOR_TYPE_GIMBAL` on a motor that is not a gimbal motor, as it may overheat the motor or the ODrive.
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+4
-4
@@ -15,7 +15,7 @@ By default, `odrivetool` will connect to any ODrive it finds. If this is not wha
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To find the serial number of your ODrive, run `odrivetool`, connect exactly one ODrive and power it up. You should see this:
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```
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Connected to ODrive 306A396A3235 as odrv0
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In [1]:
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In [1]:
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```
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`306A396A3235` is the serial number of this particular ODrive. If you want ODrive Tool to ignore all other devices you would close it and then run `odrivetool --serial-number 306A396A3235`.
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@@ -45,7 +45,7 @@ You can use ODrive Tool to back up and restore device configurations or transfer
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To update the ODrive to the newest firmware release, simply open up a terminal and run the following command:
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```
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~ $ odrivetool dfu
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~ $ odrivetool dfu
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ODrive control utility v0.3.7.dev
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Waiting for ODrive...
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Found ODrive 308039673235 (v3.5-24V) with firmware v0.3.7-dev
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@@ -118,12 +118,12 @@ Info : using stlink api v2
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Info : Target voltage: 3.236027
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Info : stm32f4x.cpu: hardware has 6 breakpoints, 4 watchpoints
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adapter speed: 2000 kHz
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target halted due to debug-request, current mode: Thread
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target halted due to debug-request, current mode: Thread
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xPSR: 0x01000000 pc: 0x08009224 msp: 0x20020000
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auto erase enabled
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Info : device id = 0x10076413
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Info : flash size = 1024kbytes
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target halted due to breakpoint, current mode: Thread
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target halted due to breakpoint, current mode: Thread
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xPSR: 0x61000000 pc: 0x20000046 msp: 0x20020000
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Warn : no flash bank found for address 10000000
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wrote 262144 bytes from file ODriveFirmware_v3.4-24V.elf in 10.194110s (25.113 KiB/s)
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@@ -19,18 +19,18 @@ my_drive = odrive.find_any()
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print("Bus voltage is " + str(my_drive.vbus_voltage) + "V")
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# Or to change a value, just assign to the property
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my_drive.motor0.pos_setpoint = 3.14
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print("Position setpoint is " + str(my_drive.motor0.pos_setpoint))
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my_drive.axis0.controller.pos_setpoint = 3.14
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print("Position setpoint is " + str(my_drive.axis0.controller.pos_setpoint))
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# And this is how function calls are done:
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my_drive.motor0.set_pos_setpoint(0.0, 0.0, 0.0)
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my_drive.axis0.controller.set_pos_setpoint(0.0, 0.0, 0.0)
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# A sine wave to test
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t0 = time.monotonic()
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while True:
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setpoint = 10000.0 * math.sin((time.monotonic() - t0)*2)
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print("goto " + str(int(setpoint)))
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my_drive.motor0.set_pos_setpoint(setpoint, 0.0, 0.0)
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my_drive.axis0.controller.set_pos_setpoint(setpoint, 0.0, 0.0)
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time.sleep(0.01)
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Reference in New Issue
Block a user