pjohnson
ceabd24582
Added torque_ramp_rate to controller config. Changed INPUT_MODE_CURRENT_RAMP to INPUT_MODE_TORQUE_RAMP for controller input mode enum. Torque limits and current limits are now observed seperately. Torque limit is in the controller, current limit is in the motor object. Fixed torque -> current calculation in motor_update to handle ACIM motors.
3.2 KiB
Input Modes
As of version ###, ODrive now intercepts the incoming commands and can apply filters to them. The old protocol values pos_setpoint, vel_setpoint, and current_setpoint are still used internally by the closed-loop cascade control, but the user cannot write to them directly. This allows us to condense the number of ways the ODrive accepts motion commands. The new commands are:
<axis>.controller.config.input_mode<axis>.controller.input_pos<axis>.controller.input_vel<axis>.controller.input_torque
The Input Modes currently valid are:
INPUT_MODE_INACTIVEINPUT_MODE_PASSTHROUGHINPUT_MODE_VEL_RAMPINPUT_MODE_POS_FILTERINPUT_MODE_MIX_CHANNELSINPUT_MODE_TRAP_TRAJINPUT_MODE_TORQUE_RAMPINPUT_MODE_MIRROR
INPUT_MODE_INACTIVE
Disable inputs. Setpoints retain their last value.
INPUT_MODE_PASSTHROUGH
Pass input_xxx through to xxx_setpoint directly.
Valid Inputs:
input_posinput_velinput_torque
Valid Control modes:
CONTROL_MODE_VOLTAGE_CONTROLCONTROL_MODE_CURRENT_CONTROLCONTROL_MODE_VELOCITY_CONTROLCONTROL_MODE_POSITION_CONTROL
INPUT_MODE_VEL_RAMP
Ramps a velocity command from the current value to the target value.
Configuration Values:
<axis>.controller.config.vel_ramp_rate[cpr/sec]<axis>.controller.config.inertia[A/(count/s^2))]
Valid inputs:
input_vel
Valid Control Modes:
CONTROL_MODE_VELOCITY_CONTROL
INPUT_MODE_POS_FILTER
Implements a 2nd order position tracking filter. Inteded for use with step/dir interface, but can also be used with position-only commands.
Result of a step command from 1000 to 0
Configuration Values:
<axis>.controller.config.input_filter_bandwidth<axis>.controller.config.inertia
Valid inputs:
input_pos
Valid Control modes:
CONTROL_MODE_POSITION_CONTROL
INPUT_MODE_MIX_CHANNELS
Not Implemented.
INPUT_MODE_TRAP_TRAJ
Implementes an online trapezoidal trajectory planner.
Configuration Values:
<axis>.trap_traj.config.vel_limit<axis>.trap_traj.config.accel_limit<axis>.trap_traj.config.decel_limit<axis>.controller.config.inertia
Valid Inputs:
input_pos
Valid Control Modes:
CONTROL_MODE_POSITION_CONTROL
INPUT_MODE_TORQUE_RAMP
Ramp a torque command from the current value to the target value.
Configuration Values:
<axis>.controller.config.torque_ramp_rate
Valid Inputs:
input_torque
Valid Control Modes:
CONTROL_MODE_CURRENT_CONTROL
INPUT_MODE_MIRROR
Implements "electronic mirroring". This is like electronic camming, but you can only mirror exactly the movements of the other motor, according to a fixed ratio
Configuration Values
<axis>.controller.config.axis_to_mirror<axis>.controller.config.mirror_ratio
Valid Inputs
- None. Inputs are taken directly from the other axis encoder estimates
Valid Control modes
CONTROL_MODE_POSITION_CONTROL