mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-08-20 22:14:34 +08:00
103 lines
2.6 KiB
YAML
103 lines
2.6 KiB
YAML
|
|
components:
|
|
- type: generalpurpose
|
|
name: homenet
|
|
net: homenet
|
|
|
|
- type: generalpurpose
|
|
name: rpi
|
|
ssh: odrv
|
|
net: homenet
|
|
components:
|
|
- type: uart
|
|
name: uart0
|
|
port: /dev/ttyS0
|
|
connected-to: main_uart
|
|
# need to specify GPIOs explicitly for the generalpurpose type
|
|
- {type: gpio, num: 4}
|
|
- {type: gpio, num: 18}
|
|
- {type: gpio, num: 23}
|
|
|
|
- type: odrive
|
|
name: odrive
|
|
board-version: v4.1-58V
|
|
serial-number: "206730814E53"
|
|
brake-resistance: 0.0
|
|
usb: auto
|
|
can: main_canbus
|
|
vbus-voltage: 24 # [V]
|
|
max-brake-power: 0 # [W]
|
|
encoder0: virtual_encoder0
|
|
motor0: D5065-270KV_0
|
|
|
|
- type: motor
|
|
name: D5065-270KV_0
|
|
phase-resistance: 0.039
|
|
phase-inductance: 1.57e-05
|
|
pole-pairs: 7
|
|
direction: 1
|
|
kv: 270
|
|
max-current: 70
|
|
max-voltage: 40
|
|
|
|
- type: encoder
|
|
name: real_encoder
|
|
cpr: 8192
|
|
max-rpm: 7000
|
|
|
|
- type: arduino
|
|
name: teensy
|
|
board-version: teensy:avr:teensy41
|
|
|
|
- {type: lpf, name: lpf0}
|
|
- {type: lpf, name: lpf1}
|
|
|
|
connections:
|
|
- ['teensy.program', 'rpi.gpio4']
|
|
- ['teensy.gpio14', 'rpi.uart0.tx']
|
|
- ['teensy.gpio15', 'rpi.uart0.rx']
|
|
- ['teensy.gpio16', 'rpi.gpio18']
|
|
- ['teensy.gpio17', 'rpi.gpio23']
|
|
|
|
# J8
|
|
- ['teensy.gpio0', 'odrive.gpio6']
|
|
- ['teensy.gpio1', 'odrive.gpio5']
|
|
- ['teensy.gpio2', 'odrive.gpio4']
|
|
- ['teensy.gpio3', 'odrive.gpio3']
|
|
- ['teensy.gpio4', 'odrive.gpio0']
|
|
- ['teensy.gpio5', 'odrive.gpio1']
|
|
- ['teensy.gpio6', 'odrive.gpio2']
|
|
|
|
- ['teensy.gpio8', 'odrive.gpio16']
|
|
- ['teensy.gpio9', 'odrive.gpio17']
|
|
- ['teensy.gpio10', 'odrive.gpio18']
|
|
- ['teensy.gpio11', 'odrive.gpio19']
|
|
- ['teensy.gpio12', 'odrive.gpio20']
|
|
- ['teensy.gpio24', 'odrive.gpio21']
|
|
- ['teensy.gpio25', 'odrive.gpio22']
|
|
|
|
- ['teensy.gpio26', 'odrive.gpio10']
|
|
- ['teensy.gpio27', 'odrive.gpio11']
|
|
- ['teensy.gpio28', 'odrive.gpio15']
|
|
- ['teensy.gpio29', 'odrive.gpio14']
|
|
- ['teensy.gpio30', 'odrive.gpio13']
|
|
- ['teensy.gpio31', 'odrive.gpio12']
|
|
|
|
- ['teensy.gpio33', 'odrive.gpio8']
|
|
- ['teensy.gpio34', 'odrive.gpio7']
|
|
- ['teensy.gpio35', 'odrive.gpio9']
|
|
|
|
- ['teensy.gpio23', 'real_encoder.b']
|
|
- ['teensy.gpio22', 'real_encoder.a']
|
|
- ['teensy.gpio21', 'real_encoder.z']
|
|
- ['odrive.axis0', 'D5065-270KV_0.phases']
|
|
- ['D5065-270KV_0.shaft', 'real_encoder.shaft']
|
|
|
|
- ['odrive.encoder0.a', 'odrive.gpio0']
|
|
- ['odrive.encoder0.b', 'odrive.gpio5']
|
|
- ['odrive.encoder0.z', 'odrive.gpio6'] # TODO
|
|
|
|
# - ['odrive.encoder1.a', 'odrive.gpio0']
|
|
# - ['odrive.encoder1.b', 'odrive.gpio5']
|
|
# - ['odrive.encoder1.z', 'odrive.gpio6'] # TODO
|