mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-02-05 22:52:02 +08:00
94 lines
2.4 KiB
YAML
94 lines
2.4 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: uart
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name: uart0
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port: /dev/ttyS0
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connected-to: main_uart
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- type: can
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name: can0
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interface: can0
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connected-to: odrive.can
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# need to specify GPIOs explicitly for the generalpurpose type
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- {type: gpio, num: 16}
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- {type: gpio, num: 19}
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- {type: gpio, num: 20}
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- {type: gpio, num: 26}
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- type: odrive
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name: odrive
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board-version: v3.6-56V
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serial-number: "206839975453"
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brake-resistance: 2.0
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usb: auto
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can: main_canbus
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vbus-voltage: 20.5 # [V]
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max-brake-power: 150 # [W]
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encoder0: virtual_encoder0
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encoder1: virtual_encoder1
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motor0: D5065-270KV_0
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motor1: floating
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- type: motor
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name: D5065-270KV_0
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phase-resistance: 0.039
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phase-inductance: 1.57e-05
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pole-pairs: 7
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direction: 1
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kv: 270
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max-current: 70
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max-voltage: 40
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- type: encoder
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name: real_encoder
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cpr: 8192
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max-rpm: 7000
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- type: arduino
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name: teensy
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board-version: teensy:avr:teensy40
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- {type: lpf, name: lpf0}
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- {type: lpf, name: lpf1}
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connections:
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- ['odrive.can', 'rpi.can0']
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- ['teensy.program', 'rpi.gpio26']
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- ['teensy.gpio12', 'rpi.uart0.tx']
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- ['teensy.gpio13', 'rpi.uart0.rx']
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- ['teensy.gpio11', 'odrive.gpio1']
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- ['teensy.gpio10', 'odrive.gpio2']
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- ['teensy.gpio9', 'odrive.gpio3']
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- ['teensy.gpio8', 'odrive.gpio4']
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- ['teensy.gpio14', 'odrive.gpio5']
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- ['teensy.gpio15', 'odrive.gpio6']
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- ['teensy.gpio16', 'odrive.gpio7']
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- ['teensy.gpio17', 'odrive.gpio8']
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- ['teensy.gpio6', 'rpi.gpio20']
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- ['teensy.gpio7', 'rpi.gpio19']
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- ['teensy.gpio23', 'odrive.encoder0.z']
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- ['teensy.gpio22', 'odrive.encoder0.b']
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- ['teensy.gpio21', 'odrive.encoder0.a']
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- ['teensy.gpio20', 'odrive.encoder1.z']
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- ['teensy.gpio19', 'odrive.encoder1.b']
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- ['teensy.gpio18', 'odrive.encoder1.a']
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- ['teensy.gpio0', 'real_encoder.z']
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- ['teensy.gpio1', 'real_encoder.a']
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- ['teensy.gpio2', 'real_encoder.b']
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- ['teensy.gpio3', 'odrive.spi.mosi']
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- ['teensy.gpio4', 'odrive.spi.miso']
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- ['teensy.gpio5', 'odrive.spi.sck']
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- ['odrive.axis0', 'D5065-270KV_0.phases']
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- ['D5065-270KV_0.shaft', 'real_encoder.shaft']
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- ['odrive.gpio3', 'lpf0']
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- ['odrive.gpio4', 'lpf1']
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- ['lpf0.en', 'lpf1.en', 'rpi.gpio16']
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