From 7acb0d20c777593d0b6265cfee79028820168e21 Mon Sep 17 00:00:00 2001 From: mvelado Date: Mon, 25 Jun 2018 22:38:21 -0400 Subject: [PATCH] Added clarity for different control modes --- docs/commands.md | 6 ++++++ docs/configurations.md | 0 docs/odrivetool.md | 8 ++++---- 3 files changed, 10 insertions(+), 4 deletions(-) delete mode 100644 docs/configurations.md diff --git a/docs/commands.md b/docs/commands.md index 199795a4..ef964ddd 100644 --- a/docs/commands.md +++ b/docs/commands.md @@ -51,6 +51,12 @@ Possible values are: * `CTRL_MODE_CURRENT_CONTROL` * `CTRL_MODE_VOLTAGE_CONTROL` - this one is not normally used. +## Control commands + +.controller.pos_setpoint = +.controller.current_setpoint = +.controller.vel_setpoint = + ### Tuning parameters The motion control gains are currently manually tuned: * `.controller.config.pos_gain = 20.0f` [(counts/s) / counts] diff --git a/docs/configurations.md b/docs/configurations.md deleted file mode 100644 index e69de29b..00000000 diff --git a/docs/odrivetool.md b/docs/odrivetool.md index efa1f14b..d3c4b67a 100644 --- a/docs/odrivetool.md +++ b/docs/odrivetool.md @@ -15,7 +15,7 @@ By default, `odrivetool` will connect to any ODrive it finds. If this is not wha To find the serial number of your ODrive, run `odrivetool`, connect exactly one ODrive and power it up. You should see this: ``` Connected to ODrive 306A396A3235 as odrv0 -In [1]: +In [1]: ``` `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`. @@ -45,7 +45,7 @@ You can use ODrive Tool to back up and restore device configurations or transfer To update the ODrive to the newest firmware release, simply open up a terminal and run the following command: ``` -~ $ odrivetool dfu +~ $ odrivetool dfu ODrive control utility v0.3.7.dev Waiting for ODrive... Found ODrive 308039673235 (v3.5-24V) with firmware v0.3.7-dev @@ -118,12 +118,12 @@ Info : using stlink api v2 Info : Target voltage: 3.236027 Info : stm32f4x.cpu: hardware has 6 breakpoints, 4 watchpoints adapter speed: 2000 kHz -target halted due to debug-request, current mode: Thread +target halted due to debug-request, current mode: Thread xPSR: 0x01000000 pc: 0x08009224 msp: 0x20020000 auto erase enabled Info : device id = 0x10076413 Info : flash size = 1024kbytes -target halted due to breakpoint, current mode: Thread +target halted due to breakpoint, current mode: Thread xPSR: 0x61000000 pc: 0x20000046 msp: 0x20020000 Warn : no flash bank found for address 10000000 wrote 262144 bytes from file ODriveFirmware_v3.4-24V.elf in 10.194110s (25.113 KiB/s)