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sensorless docs WIP

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Oskar Weigl
2018-06-25 16:11:22 -07:00
parent 106cb78903
commit 196d672fc0
2 changed files with 15 additions and 1 deletions
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docs/commands.md
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@@ -79,3 +79,14 @@ All variables that are part of a `[...].config` object can be saved to non-volat
* `<odrv>.fw_version_major`, `<odrv>.fw_version_minor`, `<odrv>.fw_version_revision`: The firmware version that is currently running.
* `<odrv>.hw_version_major`, `<odrv>.hw_version_minor`, `<odrv>.hw_version_revision`: The hardware version of your ODrive.
## Setting up sensorless
The ODrive can run without encoder/hall feedback, but there is a minimum speed, usually around a few hunderd RPM.
However the
```
odrv0.axis0.controller.config.vel_gain = 0.1
odrv0.axis0.controller.config.vel_integrator_gain = 0
odrv0.axis0.controller.config.control_mode = 2
odrv0.axis0.controller.vel_setpoint = 400
odrv0.axis0.sensorless_estimator.config.pm_flux_linkage = 5.51328895422 / (<pole pairs> * <motor kv>)
```
docs/getting-started.md
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@@ -172,7 +172,10 @@ You can read more about the odrivetool [here](odrivetool.md).
</div></details>
* `odrv0.axis0.encoder.config.cpr`: Encoder Count Per Revolution (CPR). This is 4x the Pulse Per Revolution (PPR) value. Usually this is indicated in the datasheet of your encoder.
* _if using encoder_: `odrv0.axis0.encoder.config.cpr`: Encoder Count Per Revolution (CPR). This is 4x the Pulse Per Revolution (PPR) value. Usually this is indicated in the datasheet of your encoder.
* _if not using encoder_:
* If you wish to run in sensorless mode, please see [Setting up Sensorless](commands.md#setting-up-sensorless).
* If you are using hall sensor feedback, please see the [hoverboard motor example](hoverboard.md).
3. Save configuration. You can save all `.config` parameters to persistent memory such that the ODrive remembers them between power cycles.