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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/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