mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-02-05 14:40:11 +08:00
63 lines
1.6 KiB
YAML
63 lines
1.6 KiB
YAML
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components:
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- type: generalpurpose
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name: homenet
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net: homenet
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- type: generalpurpose
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name: rpi
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ssh: odrv
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net: homenet
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components:
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- type: can
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name: can0
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interface: can0
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path: /dev/serial/by-id/usb-Protofusion_Labs_CANable_1205aa6_https:__github.com_normaldotcom_cantact-fw_002080015852430220363530-if00
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connected-to: odrive.can
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- type: odrive
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name: odrive-v4_1
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board-version: v4.1-58V
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serial-number: "2060307C4E53"
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encoder0: virtual_encoder0
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motor0: D6374_150KV_0
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- type: odrive
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name: odrive-v4_0
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board-version: v4.0-58V
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serial-number: "206730834E53" # smart motor
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encoder0: virtual_encoder1
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motor0: D6374_150KV_1
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- type: motor
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name: D6374_150KV_0
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phase-resistance: 0.065
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phase-inductance: 2.15e-05
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- type: motor
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name: D6374_150KV_1
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phase-resistance: 0.065
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phase-inductance: 2.15e-05
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- type: encoder
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name: quadrature_encoder0
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cpr: 8192
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max-rpm: 7000
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- type: encoder
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name: quadrature_encoder1
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cpr: 8192
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max-rpm: 7000
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connections:
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- ['odrive-v4_1.can', 'rpi.can0']
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- ['odrive-v4_1.axis0', 'D6374_150KV_0.phases']
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- ['odrive-v4_0.axis0', 'D6374_150KV_1.phases']
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- ['quadrature_encoder0.shaft', 'D6374_150KV_0.shaft', 'D6374_150KV_1.shaft', 'quadrature_encoder1.shaft']
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- ['odrive-v4_1.encoder0.a', 'quadrature_encoder0.a']
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- ['odrive-v4_1.encoder0.b', 'quadrature_encoder0.b']
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- ['odrive-v4_1.encoder0.z', 'quadrature_encoder0.z']
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- ['odrive-v4_0.encoder0.a', 'quadrature_encoder1.a']
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- ['odrive-v4_0.encoder0.b', 'quadrature_encoder1.b']
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- ['odrive-v4_0.encoder0.z', 'quadrature_encoder1.z']
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