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Replace select instances of pos_setpoint by input_pos in docs

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2020-04-21 20:46:38 -04:00
parent c2a5ce821a
commit f4f4be0d6d
3 changed files with 6 additions and 6 deletions
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docs/ascii-protocol.md
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@@ -131,7 +131,7 @@ Not all parameters can be accessed via the ASCII protocol but at least all param
```
* `property` name of the property, as seen in ODrive Tool
* `value` text representation of the value to be written
* Example: `w axis0.controller.pos_setpoint -123.456`
* Example: `w axis0.controller.input_pos -123.456`
#### System commands:
* `ss` - Save config
docs/getting-started.md
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@@ -247,7 +247,7 @@ Let's get motor 0 up and running. The procedure for motor 1 is exactly the same,
</div></details>
2. Type `odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL` <kbd>Enter</kbd>. From now on the ODrive will try to hold the motor's position. If you try to turn it by hand, it will fight you gently. That is unless you bump up `odrv0.axis0.motor.config.current_lim`, in which case it will fight you more fiercely. If the motor begins to vibrate either immediately or after being disturbed you will need to [lower the controller gains](control.md).
3. Send the motor a new position setpoint. `odrv0.axis0.controller.pos_setpoint = 10000` <kbd>Enter</kbd>. The units are in encoder counts.
3. Send the motor a new position setpoint. `odrv0.axis0.controller.input_pos = 10000` <kbd>Enter</kbd>. The units are in encoder counts.
4. At this point you will probably want to [Properly tune](control.md) the motor controller in order to maximize system performance.
## Other control modes
@@ -328,9 +328,9 @@ You can also execute a move with the [appropriate ascii command](ascii-protocol.
To enable Circular position control, set `axis.controller.config.setpoints_in_cpr = True`
This mode is useful for continuos incremental position movement. For example a robot rolling indefinitely, or an extruder motor or conveyor belt moving with controlled increments indefinitely.
In the regular position mode, the `pos_setpoint` would grow to a very large value and would lose precision due to floating point rounding.
In the regular position mode, the `input_pos` would grow to a very large value and would lose precision due to floating point rounding.
In this mode, the controller will try to track the position within only one turn of the motor. Specifically, `pos_setpoint` is expected in the range `[0, cpr-1]`, where `cpr` is the number of encoder counts in one revolution. If the `pos_setpoint` is incremented to outside this range (say via step/dir input), it is automatically wrapped around into the correct value.
In this mode, the controller will try to track the position within only one turn of the motor. Specifically, `input_pos` is expected in the range `[0, cpr-1]`, where `cpr` is the number of encoder counts in one revolution. If the `input_pos` is incremented to outside this range (say via step/dir input), it is automatically wrapped around into the correct value.
Note that in this mode `encoder.pos_cpr` is used for feedback in stead of `encoder.pos_estimate`.
If you try to increment the axis with a large step in one go that exceeds `cpr/2` steps, the motor will go to the same angle around the wrong way. This is also the case if there is a large disturbance. If you have an application where you would like to handle larger steps, you can use a virtual CPR that is an integer times larger than your encoder's actual CPR. Set `encoder.config.cpr = N * your_enc_cpr`, where N is some integer. Choose N to give you an appropriate circular space for your application.
docs/interfaces.md
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@@ -115,13 +115,13 @@ Some GPIO pins can be used for PWM input, if they are not allocated to other fun
Any of the numerical parameters that are writable from the ODrive Tool can be hooked up to a PWM input.
As an example, we'll configure GPIO4 to control the angle of axis 0. We want the axis to move within a range of -1500 to 1500 encoder counts.
1. Make sure you're able control the axis 0 angle by writing to `odrv0.axis0.controller.pos_setpoint`. If you need help with this follow the [getting started guide](getting-started.md).
1. Make sure you're able control the axis 0 angle by writing to `odrv0.axis0.controller.input_pos`. If you need help with this follow the [getting started guide](getting-started.md).
2. If you want to control your ODrive with the PWM input without using anything else to activate the ODrive, you can configure the ODrive such that axis 0 automatically goes operational at startup. See [here](commands.md#startup-procedure) for more information.
3. In ODrive Tool, configure the PWM input mapping
```
In [1]: odrv0.config.gpio4_pwm_mapping.min = -1500
In [2]: odrv0.config.gpio4_pwm_mapping.max = 1500
In [3]: odrv0.config.gpio4_pwm_mapping.endpoint = odrv0.axis0.controller._remote_attributes['pos_setpoint']
In [3]: odrv0.config.gpio4_pwm_mapping.endpoint = odrv0.axis0.controller._remote_attributes['input_pos']
```
Note: you can disable the input by setting `odrv0.config.gpio4_pwm_mapping.endpoint = None`
4. Save the configuration and reboot