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Oskar Weigl
2017-07-21 17:52:41 -07:00
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@@ -14,7 +14,9 @@ There is also [ODriveFPGA](https://github.com/madcowswe/ODriveFPGA), which conta
It is perfectly fine, and even recommended, to start testing with just a single motor and encoder.
Make sure you have a good mechanical connection between the encdoer and the motor, slip can cause disasterous oscillations.
All non-power I/O is 3.3v output and 5v tolerant on input.
All non-power I/O is 3.3v output and 5v tolerant on input, except:
* GPIO_3 and GPIO_4 are NOT 5v tolerant on ODrive v3.2 and earlier.
You need one or two brushless motor(s), qudrature incremental encoder(s), and likely a power resistor.
If you are powering from a battery that can absorb the energy from decellerating the load, and you wish to do regenerative breaking, then you do not need a power resistor. If your load is just the motor rotor, and you are testing at low speeds, it may not be required. If you are powering from a power supply, and have a load attached or are running at significant speeds/accelerations, you NEED to connect a power resistor.
@@ -24,7 +26,9 @@ Wire up the motor phases into the 3-phase screw terminal(s), and the power resis
Wire up the encoder(s) to J4. The A,B phases are required, and the Z (index pulse) is optional. The A,B and Z lines have 1k pull up resistors, for use with open-drain encoder outputs. For single ended push-pull signals with weak drive current (\<2mA), you may want to desolder the pull-ups.
If you are sending commands over USB, you can plug in a USB cable on J1.
The currently supported command modes are USB and step/direction.
* If you are sending commands over USB, you can plug in a USB cable on J1.
* If you are using step/direction, please see [Setting up step/direction](#setting-up-step/direction)
You can now:
* [Download and build the firmware](https://github.com/madcowswe/ODriveFirmware)
@@ -32,10 +36,13 @@ You can now:
* [Flash the board](https://github.com/madcowswe/ODriveFirmware#flashing-the-firmware)
### Startup procedure
The startup procedure is illustrated [here](https://www.youtube.com/watch?v=VCX1bA2xnuY). Note that the rotor must be allowed to rotate without any biased load during startup. That means mass and weak friction loads are fine, but gravity or spring loads are not okay.
The startup procedure is illustrated [here](https://www.youtube.com/watch?v=VCX1bA2xnuY). Note that the rotor must be allowed to rotate without any biased load during startup. That means mass and weak friction loads are fine, but gravity or spring loads are not okay. Also note that in the video, the motors spin after initalisation, but in the current software the default behaviour is to do position control to position 0, i.e. the position at startup.
### Sending USB commands
Sending USB commands is documented [here](https://github.com/madcowswe/ODriveFirmware#communicating-over-usb)
### Setting up Step/Direction
TODO
### Getting help
If you have any issues or any questions please get in touch. The [ODrive Community](https://discourse.odriverobotics.com/) warmly welcomes you.