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Changed docs to reflect removal of current control mode and addition of torque control mode

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Regenerated enums
changed can_test.py to reflect control mode change
modified closed_loop_test.py to pass with A->Nm change.
This commit is contained in:
PAJohnson
2020-06-23 01:23:11 +01:00
parent cc87e4e6a8
commit 7c33fa5d27
6 changed files with 27 additions and 25 deletions
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docs/commands.md
+1 -1
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@@ -64,7 +64,7 @@ If you want a different mode, you can change `<axis>.controller.config.control_m
Possible values are:
* `CONTROL_MODE_POSITION_CONTROL`
* `CONTROL_MODE_VELOCITY_CONTROL`
* `CONTROL_MODE_CURRENT_CONTROL`
* `CONTROL_MODE_TORQUE_CONTROL`
* `CONTROL_MODE_VOLTAGE_CONTROL` - this one is not normally used.
### Input Mode
docs/getting-started.md
+1 -1
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@@ -347,7 +347,7 @@ Activate the ramped velocity mode: `axis.controller.config.input_mode = INPUT_MO
You can now control the velocity with `axis.controller.input_vel = 5000` [count/s].
### Torque control
Set `axis.controller.config.control_mode = CONTROL_MODE_CURRENT_CONTROL`.<br>
Set `axis.controller.config.control_mode = CONTROL_MODE_TORQUE_CONTROL`.<br>
You can now control the torque with `axis.controller.input_torque = 0.1` [Nm].
Note: If you exceed `vel_limit` in current control mode, the current is reduced. To disable this, set `axis.controller.enable_current_mode_vel_limit = False`.
docs/input_modes.md
+2 -2
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@@ -31,7 +31,7 @@ Pass `input_xxx` through to `xxx_setpoint` directly.
### Valid Control modes:
* `CONTROL_MODE_VOLTAGE_CONTROL`
* `CONTROL_MODE_CURRENT_CONTROL`
* `CONTROL_MODE_TORQUE_CONTROL`
* `CONTROL_MODE_VELOCITY_CONTROL`
* `CONTROL_MODE_POSITION_CONTROL`
@@ -95,7 +95,7 @@ Ramp a torque command from the current value to the target value.
* `input_torque`
### Valid Control Modes:
* `CONTROL_MODE_CURRENT_CONTROL`
* `CONTROL_MODE_TORQUE_CONTROL`
## INPUT_MODE_MIRROR
Implements "electronic mirroring". This is like electronic camming, but you can only mirror exactly the movements of the other motor, according to a fixed ratio
tools/odrive/enums.py
+2 -2
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@@ -30,7 +30,7 @@ ENCODER_MODE_SPI_ABS_AEAT = 258
# ODrive.Controller.ControlMode
CONTROL_MODE_VOLTAGE_CONTROL = 0
CONTROL_MODE_CURRENT_CONTROL = 1
CONTROL_MODE_TORQUE_CONTROL = 1
CONTROL_MODE_VELOCITY_CONTROL = 2
CONTROL_MODE_POSITION_CONTROL = 3
@@ -41,7 +41,7 @@ INPUT_MODE_VEL_RAMP = 2
INPUT_MODE_POS_FILTER = 3
INPUT_MODE_MIX_CHANNELS = 4
INPUT_MODE_TRAP_TRAJ = 5
INPUT_MODE_CURRENT_RAMP = 6
INPUT_MODE_TORQUE_RAMP = 6
INPUT_MODE_MIRROR = 7
# ODrive.Motor.MotorType
tools/odrive/tests/can_test.py
+3 -3
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@@ -187,10 +187,10 @@ class TestSimpleCAN():
test_assert_eq(axis.controller.input_vel, -10.0, range=0.01)
test_assert_eq(axis.controller.input_torque, 30.1234, range=0.01)
axis.controller.config.control_mode = CONTROL_MODE_CURRENT_CONTROL
my_cmd('set_input_torque', input_torque=3.1415)
axis.controller.config.control_mode = CONTROL_MODE_TORQUE_CONTROL
my_cmd('set_input_torque', input_torque=0.1)
fence()
test_assert_eq(axis.controller.input_torque, 3.1415, range=0.01)
test_assert_eq(axis.controller.input_torque, 0.1, range=0.01)
my_cmd('set_velocity_limit', velocity_limit=23456.78)
fence()
tools/odrive/tests/closed_loop_test.py
+18 -16
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@@ -211,9 +211,9 @@ class TestRegenProtection(TestClosedLoopControlBase):
test_assert_eq(axis_ctx.handle.motor.error, MOTOR_ERROR_DC_BUS_OVER_REGEN_CURRENT)
class TestVelLimitInCurrentControl(TestClosedLoopControlBase):
class TestVelLimitInTorqueControl(TestClosedLoopControlBase):
"""
Ensures that the current setpoint in current control is always within the
Ensures that the current setpoint in torque control is always within the
parallelogram that arises from -Ilim, +Ilim, vel_limit and vel_gain.
"""
@@ -222,7 +222,8 @@ class TestVelLimitInCurrentControl(TestClosedLoopControlBase):
max_rps = 20.0
max_vel = float(enc_ctx.yaml['cpr']) * max_rps
absolute_max_vel = max_vel * 1.2
max_current = 10.0
max_current = 15.0
torque_constant = 0.0305 #correct for 5065 motor
axis_ctx.handle.controller.config.vel_gain /= 10 # reduce the slope to make it easier to see what's going on
vel_gain = axis_ctx.handle.controller.config.vel_gain
@@ -231,11 +232,12 @@ class TestVelLimitInCurrentControl(TestClosedLoopControlBase):
axis_ctx.handle.controller.config.vel_limit = max_vel
axis_ctx.handle.controller.config.vel_limit_tolerance = inf # disable hard limit on velocity
axis_ctx.handle.motor.config.current_lim = max_current
axis_ctx.handle.controller.config.control_mode = CONTROL_MODE_CURRENT_CONTROL
axis_ctx.handle.motor.config.torque_constant = torque_constant
axis_ctx.handle.controller.config.control_mode = CONTROL_MODE_TORQUE_CONTROL
# Returns the expected limited setpoint for a given velocity and current
def get_expected_setpoint(input_setpoint, velocity):
return clamp(clamp(input_setpoint, (velocity + max_vel) * -vel_gain, (velocity - max_vel) * -vel_gain), -max_current, max_current)
return clamp(clamp(input_setpoint / torque_constant, (velocity + max_vel) * -vel_gain / torque_constant, (velocity - max_vel) * -vel_gain / torque_constant), -max_current, max_current)
def data_getter():
# sample velocity twice to avoid systematic bias
@@ -252,13 +254,13 @@ class TestVelLimitInCurrentControl(TestClosedLoopControlBase):
request_state(axis_ctx, AXIS_STATE_CLOSED_LOOP_CONTROL)
# Move the system around its operating envelope
axis_ctx.handle.controller.input_torque = input_torque = 2.0
axis_ctx.handle.controller.input_torque = input_torque = 2.0 * torque_constant
dataA = record_log(data_getter, duration=1.0)
axis_ctx.handle.controller.input_torque = input_torque = -2.0
axis_ctx.handle.controller.input_torque = input_torque = -2.0 * torque_constant
dataA = np.concatenate([dataA, record_log(data_getter, duration=1.0)])
axis_ctx.handle.controller.input_torque = input_torque = 4.0
axis_ctx.handle.controller.input_torque = input_torque = 4.0 * torque_constant
dataA = np.concatenate([dataA, record_log(data_getter, duration=1.0)])
axis_ctx.handle.controller.input_torque = input_torque = -4.0
axis_ctx.handle.controller.input_torque = input_torque = -4.0 * torque_constant
dataA = np.concatenate([dataA, record_log(data_getter, duration=1.0)])
# Shrink the operating envelope while motor is moving faster than the envelope allows
@@ -267,22 +269,22 @@ class TestVelLimitInCurrentControl(TestClosedLoopControlBase):
axis_ctx.handle.controller.config.vel_limit = max_vel
# Move the system around its operating envelope
axis_ctx.handle.controller.input_torque = input_torque = 2.0
axis_ctx.handle.controller.input_torque = input_torque = 2.0 * torque_constant
dataB = record_log(data_getter, duration=1.0)
axis_ctx.handle.controller.input_torque = input_torque = -2.0
axis_ctx.handle.controller.input_torque = input_torque = -2.0 * torque_constant
dataB = np.concatenate([dataB, record_log(data_getter, duration=1.0)])
axis_ctx.handle.controller.input_torque = input_torque = 4.0
axis_ctx.handle.controller.input_torque = input_torque = 4.0 * torque_constant
dataB = np.concatenate([dataB, record_log(data_getter, duration=1.0)])
axis_ctx.handle.controller.input_torque = input_torque = -4.0
axis_ctx.handle.controller.input_torque = input_torque = -4.0 * torque_constant
dataB = np.concatenate([dataB, record_log(data_getter, duration=1.0)])
# Try the shrink maneuver again at positive velocity
axis_ctx.handle.controller.config.vel_limit = 20.0 * float(enc_ctx.yaml['cpr'])
axis_ctx.handle.controller.input_torque = 4.0
axis_ctx.handle.controller.input_torque = 4.0 * torque_constant
time.sleep(0.5)
axis_ctx.handle.controller.config.vel_limit = max_vel
axis_ctx.handle.controller.input_torque = input_torque = 2.0
axis_ctx.handle.controller.input_torque = input_torque = 2.0 * torque_constant
dataB = np.concatenate([dataB, record_log(data_getter, duration=1.0)])
test_assert_no_error(axis_ctx)
@@ -298,5 +300,5 @@ if __name__ == '__main__':
test_runner.run([
TestClosedLoopControl(),
TestRegenProtection(),
TestVelLimitInCurrentControl()
TestVelLimitInTorqueControl()
])