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Merge pull request #744 from haroldina/docs-v0.5.6

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Rebased to docs-v0.5.6, changed hard link to reference in hoverboard.…
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samuelsadok
2024-04-02 15:28:30 +02:00
committed by GitHub
parent a641335a96 c9b4b4db6e
commit e34005f335
2 changed files with 8 additions and 3 deletions
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docs/getting-started.rst
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@@ -256,7 +256,7 @@ Once the error(s) have been identified and corrected, run :code:`odrv0.clear_err
.. admonition:: Working on a hoverboard?
There is a :ref:`separate guide <hoverboard-doc>` specifically for hoverboard motors
There is a :ref:`separate guide <hoverboard-doc>` specifically for hoverboard motors with RC PWM input and the built-in hall sensors.
Setting the Limits
@@ -279,7 +279,7 @@ Current limit
odrv0.axis0.motor.config.current_lim = val
Once you have tuned the ODrive, you can increase this to 60A to increase performance.
Once you have tuned the ODrive, you can increase this to your motor's maximum current, up to 60A, to increase performance.
.. dropdown:: Need more than 60A?
@@ -419,6 +419,7 @@ Motor Thermistor
If using motor thermistor please see the :ref:`thermistors <thermistor-doc>` page for setup.
.. _encoder-config:
Encoder Configuration
--------------------------------------------------------------------------------
docs/hoverboard.rst
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@@ -97,7 +97,9 @@ If you can't perform this test, a typical value is 16.
odrv0.axis0.motor.config.current_control_bandwidth = 100
odrv0.axis0.motor.config.torque_constant = 8.27 / <measured KV>
Hall Sensor Configuration
-------------------------------------------------------------------------------
If using a hoverboard motor with an encoder attached instead of the internal hall sensors, use the encoder configuration section of the :ref:`Getting Started <encoder-config>` guide.
If you set the encoder to hall mode (instead of incremental).
See the :ref:`pinout <encoders-hall-effect>` for instructions on how to plug in the hall feedback.
The hall feedback has 6 states for every pole pair in the motor.
@@ -132,6 +134,8 @@ Lets also start in velocity control mode since that is probably what you want fo
odrv0.axis0.controller.config.vel_limit = 10
odrv0.axis0.controller.config.control_mode = CONTROL_MODE_VELOCITY_CONTROL
Calibration and Powering the Motor
-------------------------------------------------------------------------------
In the next step we are going to start powering the motor and so we want to make sure that some of the above settings that require a reboot are applied first.