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Merge pull request #158 from moorage/patch-2

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Change encoder.calibrated to encoder.manually_calibrated
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Oskar Weigl
2018-04-18 22:08:30 -07:00
committed by GitHub
parent 87a04bd9f6 57f6b71321
commit 57de16fe2d
1 changed files with 2 additions and 2 deletions
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Firmware/README.md
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@@ -251,7 +251,7 @@ If you have an encoder with an index (Z) signal, you may avoid having to do the
* Since you will only do this once, it is recommended that you mechanically disengage the motor from anything other than the encoder, so it can spin freely.
* All the parameters we will be modifying are in the motor structs at the top of [MotorControl/low_level.c](MotorControl/low_level.c).
* Set `.encoder.use_index = true` and `.encoder.calibrated = false`.
* Set `.encoder.use_index = true` and `.encoder.manually_calibrated = false`.
* Flash this configuration, and let the motor scan for the index pulse and then complete the encoder calibration.
* Run `explore_odrive.py`, check [Communicating over USB or UART](#communicating-over-usb-or-uart) for instructions on how to do that.
* Enter the following to print out the calibration parameters (substitute the motor number you are calibrating for `<NUM>`):
@@ -259,7 +259,7 @@ If you have an encoder with an index (Z) signal, you may avoid having to do the
* `my_odrive.motor<NUM>.encoder.motor_dir` - This should print 1 or -1.
* Copy these numbers to the corresponding entries in low_level.c: `.encoder.encoder_offset` and `.encoder.motor_dir`.
* _Warning_: Please be careful to enter the correct numbers, and not to confuse the motor channels. Incorrect values may cause the motor to spin out of control.
* Set `.encoder.calibrated = true`.
* Set `.encoder.manually_calibrated = true`.
* Flash this configuration and check that the motor scans for the index pulse but skips the encoder calibration.
* Congratulations, you are now done. You may now attach the motor to your mechanical load.
* If you wish to scan for the index pulse in the other direction (if for example your axis usually starts close to a hard-stop), you can set a negative value in `.encoder.idx_search_speed`.