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Merge branch 'master' into devel

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Samuel Sadok
2018-04-24 16:17:26 -07:00
parent 6064bfc7cc 9681311852
commit aa6c4dddd5
2 changed files with 3 additions and 3 deletions
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Firmware/README.md
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@@ -254,7 +254,7 @@ 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 `odrivetool`, 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>`):
@@ -262,7 +262,7 @@ If you have an encoder with an index (Z) signal, you may avoid having to do the
* `odrv0.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`.
README.md
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@@ -66,7 +66,7 @@ ODrive v3.3 and onward have 5V tolerant GPIO pins.
To enable step/dir mode for the GPIO, please see [Setting the GPIO mode](Firmware/README.md#communication-configuration).
There is also a new config variable called `counts_per_step`, which specifies how many encoder counts a "step" corresponds to. It can be any floating point value.
The maximum step rate is pending tests, but it should handle at least 16kHz. If you want's to test it, please be aware that the failure mode on too high step rates is expected to be that the motors shuts down and coasts.
The maximum step rate is pending tests, but it should handle at least 32kHz. If you want's to test it, please be aware that the failure mode on too high step rates is expected to be that the motors shuts down and coasts.
Please be aware that there is no enable line right now, and the step/direction interface is enabled by default, and remains active as long as the ODrive is in position control mode. By default the ODrive starts in position control mode, so you don't need to send any commands over USB to get going. You can still send USB commands if you want to.