From 82070845c50fef2d3b662729e346912baa3a5c2c Mon Sep 17 00:00:00 2001 From: Samuel Sadok Date: Mon, 21 Jun 2021 20:53:45 +0200 Subject: [PATCH] fix variable naming and merge conflict in hoverboard guide --- docs/hoverboard.md | 17 ++++------------- 1 file changed, 4 insertions(+), 13 deletions(-) diff --git a/docs/hoverboard.md b/docs/hoverboard.md index 12027f57..8080c397 100644 --- a/docs/hoverboard.md +++ b/docs/hoverboard.md @@ -120,10 +120,11 @@ Check the status of the encoder object: odrv0.axis0.encoder ``` -Check that there are no errors. If your hall sensors has a standard timing angle then `offset_float` should be close to 0.5 mod 1. Meaning values close to -1.5, -0.5, 0.5, or 1.5, etc are all good. +Check that there are no errors. If your hall sensors has a standard timing angle then `phase_offset_float` should be close to 0.5 mod 1. Meaning values close to -1.5, -0.5, 0.5, or 1.5, etc are all good. ```txt error = 0x0000 (int) - offset_float = 0.5126956701278687 (float) + config: + phase_offset_float = 0.5126956701278687 (float) ``` If all looks good then you can tell the ODrive that saving this calibration to presistent memory is OK: @@ -151,23 +152,13 @@ Lets use GPIO 3/4 for the velocity inputs so that we don't have to disable UART. Then let's map the full stick range of these inputs to some suitable velocity setpoint range. We also have to reboot to activate the PWM input. ```txt -<<<<<<< HEAD odrv0.config.gpio3_pwm_mapping.min = -2 odrv0.config.gpio3_pwm_mapping.max = 2 -odrv0.config.gpio3_pwm_mapping.endpoint = odrv0.axis0.controller._remote_attributes['input_vel'] +odrv0.config.gpio3_pwm_mapping.endpoint = odrv0.axis0.controller._input_vel_property odrv0.config.gpio4_pwm_mapping.min = -2 odrv0.config.gpio4_pwm_mapping.max = 2 -odrv0.config.gpio4_pwm_mapping.endpoint = odrv0.axis1.controller._remote_attributes['input_vel'] -======= -odrv0.config.gpio3_pwm_mapping.min = -200 -odrv0.config.gpio3_pwm_mapping.max = 200 -odrv0.config.gpio3_pwm_mapping.endpoint = odrv0.axis0.controller._input_vel_property - -odrv0.config.gpio4_pwm_mapping.min = -200 -odrv0.config.gpio4_pwm_mapping.max = 200 odrv0.config.gpio4_pwm_mapping.endpoint = odrv0.axis1.controller._input_vel_property ->>>>>>> fw-v0.5.2rc1 odrv0.save_configuration() odrv0.reboot()