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Fix ::run_state method (wait_for_idle instead of idle) and better vel_limit setting in .ino sketch example

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Pull changes from arduino-improvements branch into master
This commit is contained in:
PAJohnson
2020-10-14 19:32:39 -04:00
parent b4e5469dcf
commit ed8705071f
3 changed files with 41 additions and 16 deletions
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6
Arduino/ODriveArduino/ODriveArduino.cpp
View File

@@ -59,10 +59,10 @@ int32_t ODriveArduino::readInt() {
return readString().toInt();
}
bool ODriveArduino::run_state(int axis, int requested_state, bool wait) {
int timeout_ctr = 100;
bool ODriveArduino::run_state(int axis, int requested_state, bool wait_for_idle, float timeout) {
int timeout_ctr = (int)(timeout * 10.0f);
serial_ << "w axis" << axis << ".requested_state " << requested_state << '\n';
if (wait) {
if (wait_for_idle) {
do {
delay(100);
serial_ << "r axis" << axis << ".current_state\n";

2
Arduino/ODriveArduino/ODriveArduino.h
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@@ -35,7 +35,7 @@ public:
int32_t readInt();
// State helper
bool run_state(int axis, int requested_state, bool wait);
bool run_state(int axis, int requested_state, bool wait_for_idle, float timeout = 10.0f);
private:
String readString();

49
Arduino/ODriveArduino/examples/ODriveArduinoTest/ODriveArduinoTest.ino
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@@ -1,14 +1,39 @@
// includes
#include <HardwareSerial.h>
#include <SoftwareSerial.h>
#include <ODriveArduino.h>
// Printing with stream operator
// Printing with stream operator helper functions
template<class T> inline Print& operator <<(Print &obj, T arg) { obj.print(arg); return obj; }
template<> inline Print& operator <<(Print &obj, float arg) { obj.print(arg, 4); return obj; }
// Serial to the ODrive
SoftwareSerial odrive_serial(8, 9); //RX (ODrive TX), TX (ODrive RX)
// Note: you must also connect GND on ODrive to GND on Arduino!
////////////////////////////////
// Set up serial pins to the ODrive
////////////////////////////////
// Below are some sample configurations.
// You can comment out the default Teensy one and uncomment the one you wish to use.
// You can of course use something different if you like
// Don't forget to also connect ODrive GND to Arduino GND.
// Teensy 3 and 4 (all versions) - Serial1
// pin 0: RX - connect to ODrive TX
// pin 1: TX - connect to ODrive RX
// See https://www.pjrc.com/teensy/td_uart.html for other options on Teensy
HardwareSerial& odrive_serial = Serial1;
// Arduino Mega or Due - Serial1
// pin 19: RX - connect to ODrive TX
// pin 18: TX - connect to ODrive RX
// See https://www.arduino.cc/reference/en/language/functions/communication/serial/ for other options
// HardwareSerial& odrive_serial = Serial1;
// Arduino without spare serial ports (such as Arduino UNO) have to use software serial.
// Note that this is implemented poorly and can lead to wrong data sent or read.
// pin 8: RX - connect to ODrive TX
// pin 9: TX - connect to ODrive RX
// SoftwareSerial odrive_serial(8, 9);
// ODrive object
ODriveArduino odrive(odrive_serial);
@@ -28,7 +53,7 @@ void setup() {
// You can of course set them different if you want.
// See the documentation or play around in odrivetool to see the available parameters
for (int axis = 0; axis < 2; ++axis) {
odrive_serial << "w axis" << axis << ".controller.config.vel_limit " << 22000.0f << '\n';
odrive_serial << "w axis" << axis << ".controller.config.vel_limit " << 10.0f << '\n';
odrive_serial << "w axis" << axis << ".motor.config.current_lim " << 11.0f << '\n';
// This ends up writing something like "w axis0.motor.config.current_lim 10.0\n"
}
@@ -52,23 +77,23 @@ void loop() {
requested_state = ODriveArduino::AXIS_STATE_MOTOR_CALIBRATION;
Serial << "Axis" << c << ": Requesting state " << requested_state << '\n';
odrive.run_state(motornum, requested_state, true);
if(!odrive.run_state(motornum, requested_state, true)) return;
requested_state = ODriveArduino::AXIS_STATE_ENCODER_OFFSET_CALIBRATION;
Serial << "Axis" << c << ": Requesting state " << requested_state << '\n';
odrive.run_state(motornum, requested_state, true);
if(!odrive.run_state(motornum, requested_state, true, 25.0f)) return;
requested_state = ODriveArduino::AXIS_STATE_CLOSED_LOOP_CONTROL;
Serial << "Axis" << c << ": Requesting state " << requested_state << '\n';
odrive.run_state(motornum, requested_state, false); // don't wait
if(!odrive.run_state(motornum, requested_state, false /*don't wait*/)) return;
}
// Sinusoidal test move
if (c == 's') {
Serial.println("Executing test move");
for (float ph = 0.0f; ph < 6.28318530718f; ph += 0.01f) {
float pos_m0 = 20000.0f * cos(ph);
float pos_m1 = 20000.0f * sin(ph);
float pos_m0 = 2.0f * cos(ph);
float pos_m1 = 2.0f * sin(ph);
odrive.SetPosition(0, pos_m0);
odrive.SetPosition(1, pos_m1);
delay(5);