mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-08-19 02:43:27 +08:00
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.
114 lines
3.2 KiB
Markdown
114 lines
3.2 KiB
Markdown
# Input Modes
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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:
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* `<axis>.controller.config.input_mode`
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* `<axis>.controller.input_pos`
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* `<axis>.controller.input_vel`
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* `<axis>.controller.input_torque`
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The Input Modes currently valid are:
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* `INPUT_MODE_INACTIVE`
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* `INPUT_MODE_PASSTHROUGH`
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* `INPUT_MODE_VEL_RAMP`
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* `INPUT_MODE_POS_FILTER`
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* `INPUT_MODE_MIX_CHANNELS`
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* `INPUT_MODE_TRAP_TRAJ`
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* `INPUT_MODE_TORQUE_RAMP`
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* `INPUT_MODE_MIRROR`
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---
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## INPUT_MODE_INACTIVE
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Disable inputs. Setpoints retain their last value.
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## INPUT_MODE_PASSTHROUGH
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Pass `input_xxx` through to `xxx_setpoint` directly.
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### Valid Inputs:
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* `input_pos`
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* `input_vel`
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* `input_torque`
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### Valid Control modes:
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* `CONTROL_MODE_VOLTAGE_CONTROL`
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* `CONTROL_MODE_CURRENT_CONTROL`
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* `CONTROL_MODE_VELOCITY_CONTROL`
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* `CONTROL_MODE_POSITION_CONTROL`
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## INPUT_MODE_VEL_RAMP
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Ramps a velocity command from the current value to the target value.
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### Configuration Values:
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* `<axis>.controller.config.vel_ramp_rate` [cpr/sec]
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* `<axis>.controller.config.inertia` [A/(count/s^2))]
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### Valid inputs:
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* `input_vel`
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### Valid Control Modes:
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* `CONTROL_MODE_VELOCITY_CONTROL`
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## INPUT_MODE_POS_FILTER
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Implements a 2nd order position tracking filter. Inteded for use with step/dir interface, but can also be used with position-only commands.
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Result of a step command from 1000 to 0
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### Configuration Values:
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* `<axis>.controller.config.input_filter_bandwidth`
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* `<axis>.controller.config.inertia`
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### Valid inputs:
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* `input_pos`
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### Valid Control modes:
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* `CONTROL_MODE_POSITION_CONTROL`
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## INPUT_MODE_MIX_CHANNELS
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Not Implemented.
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## INPUT_MODE_TRAP_TRAJ
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Implementes an online trapezoidal trajectory planner.
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### Configuration Values:
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* `<axis>.trap_traj.config.vel_limit`
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* `<axis>.trap_traj.config.accel_limit`
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* `<axis>.trap_traj.config.decel_limit`
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* `<axis>.controller.config.inertia`
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### Valid Inputs:
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* `input_pos`
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### Valid Control Modes:
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* `CONTROL_MODE_POSITION_CONTROL`
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## INPUT_MODE_TORQUE_RAMP
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Ramp a torque command from the current value to the target value.
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### Configuration Values:
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* `<axis>.controller.config.torque_ramp_rate`
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### Valid Inputs:
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* `input_torque`
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### Valid Control Modes:
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* `CONTROL_MODE_CURRENT_CONTROL`
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## INPUT_MODE_MIRROR
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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
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[](http://www.youtube.com/watch?v=D4_vBtyVVzM "Example Mirroring Video")
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### Configuration Values
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* `<axis>.controller.config.axis_to_mirror`
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* `<axis>.controller.config.mirror_ratio`
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### Valid Inputs
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* None. Inputs are taken directly from the other axis encoder estimates
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### Valid Control modes
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* `CONTROL_MODE_POSITION_CONTROL`
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