From b41a3be03054969f7079b38230b17cd032c5b977 Mon Sep 17 00:00:00 2001 From: Oskar Weigl Date: Mon, 12 Oct 2020 13:52:49 -0700 Subject: [PATCH 1/3] Update migration.md --- docs/migration.md | 1 + 1 file changed, 1 insertion(+) diff --git a/docs/migration.md b/docs/migration.md index 36b66f50..12ba776c 100644 --- a/docs/migration.md +++ b/docs/migration.md @@ -4,6 +4,7 @@ Certain changes occurred between firmware versions v0.4.12 and v0.5.1 that will ## Unit Changes ODrive now uses units of [turns], [turns/s], and [turns/s^2] instead of [counts], [counts/s], and [counts/s^2]. In addition, the motor controller class now has an input command of torque in [Nm] instead of current in [Amps]. In general, every user-facing parameter that has to do with position or velocity is affected by the unit change. +**Note:** For the torque to be in correct in [Nm] you need to configure the `motor.config.torque_constant`. See the updated [getting started](getting-started.md/#configure-m0) for more details. ## Control Parameter Names ODrive now uses `input_pos`, `input_vel`, and `input_torque` as commands instead of `pos_setpoint`, `vel_setpoint`, and `current_setpoint` From b9f571c2a8b43d5c1ad8e18719a3fad83802dd22 Mon Sep 17 00:00:00 2001 From: Oskar Weigl Date: Mon, 12 Oct 2020 13:52:59 -0700 Subject: [PATCH 2/3] Update migration.md --- docs/migration.md | 1 + 1 file changed, 1 insertion(+) diff --git a/docs/migration.md b/docs/migration.md index 12ba776c..5870b89a 100644 --- a/docs/migration.md +++ b/docs/migration.md @@ -4,6 +4,7 @@ Certain changes occurred between firmware versions v0.4.12 and v0.5.1 that will ## Unit Changes ODrive now uses units of [turns], [turns/s], and [turns/s^2] instead of [counts], [counts/s], and [counts/s^2]. In addition, the motor controller class now has an input command of torque in [Nm] instead of current in [Amps]. In general, every user-facing parameter that has to do with position or velocity is affected by the unit change. + **Note:** For the torque to be in correct in [Nm] you need to configure the `motor.config.torque_constant`. See the updated [getting started](getting-started.md/#configure-m0) for more details. ## Control Parameter Names From 205f1e57af8a672971705b4b960b88136d57eb60 Mon Sep 17 00:00:00 2001 From: Oskar Weigl Date: Mon, 12 Oct 2020 13:54:05 -0700 Subject: [PATCH 3/3] Update getting-started.md --- docs/getting-started.md | 1 + 1 file changed, 1 insertion(+) diff --git a/docs/getting-started.md b/docs/getting-started.md index 2890e2c4..fe24eb29 100644 --- a/docs/getting-started.md +++ b/docs/getting-started.md @@ -202,6 +202,7 @@ Another way is sliding a loose magnet in your hand around the rotor, and countin `odrv0.axis0.motor.config.torque_constant` This is the ratio of torque produced by the motor per Amp of current delivered to the motor. This should be set to **8.27 / (motor KV)**. +If you decide that you would rather command torque in units of Amps, you could simply set the torque constant to 1. `odrv0.axis0.motor.config.motor_type` This is the type of motor being used. Currently two types of motors are supported: High-current motors (`MOTOR_TYPE_HIGH_CURRENT`) and gimbal motors (`MOTOR_TYPE_GIMBAL`).