mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-08-18 18:20:15 +08:00
1136 lines
47 KiB
YAML
1136 lines
47 KiB
YAML
---
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version: 0.0.1
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ns: com.odriverobotics
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summary: ODrive Interface Definitions
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dictionary: [ODrive] # Prevent the word 'ODrive' from being detected as two words 'O' and 'Drive'
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interfaces:
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ODrive:
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c_is_class: True
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brief: Toplevel interface of your ODrive.
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doc: |
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The odrv0, odrv1, ... objects that appear in odrivetool implement this
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toplevel interface.
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attributes:
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vbus_voltage:
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type: readonly float32
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unit: V
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brief: Voltage on the DC bus as measured by the ODrive.
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ibus:
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type: readonly float32
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unit: A
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brief: Current on the DC bus as calculated by the ODrive.
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doc: |
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A positive value means that the ODrive is consuming power from the power supply,
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a negative value means that the ODrive is sourcing power to the power supply.
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This value is equal to the sum of the motor currents and the brake resistor currents.
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The motor currents are measured, the brake resistor current is calculated based on
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`config.brake_resistance`.
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ibus_report_filter_k:
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type: float32
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doc: |
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Filter gain for the reported `ibus`. Set to a value below 1.0 to get a smoother
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line when plotting `ibus`. Set to 1.0 to disable. This filter is only applied to
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the reported value and not for internal calculations.
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serial_number: readonly uint64
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hw_version_major: readonly uint8
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hw_version_minor: readonly uint8
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hw_version_variant: readonly uint8
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fw_version_major: readonly uint8
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fw_version_minor: readonly uint8
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fw_version_revision: readonly uint8
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fw_version_unreleased:
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type: readonly uint8
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doc: 0 for official releases, 1 otherwise
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brake_resistor_armed: readonly bool
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brake_resistor_saturated: bool
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system_stats:
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c_is_class: False
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attributes:
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uptime: readonly uint32
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min_heap_space: readonly uint32
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min_stack_space_axis: readonly uint32
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min_stack_space_usb: readonly uint32
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min_stack_space_uart: readonly uint32
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min_stack_space_can: readonly uint32
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min_stack_space_usb_irq: readonly uint32
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min_stack_space_startup: readonly uint32
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stack_usage_axis: readonly uint32
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stack_usage_usb: readonly uint32
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stack_usage_uart: readonly uint32
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stack_usage_usb_irq: readonly uint32
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stack_usage_startup: readonly uint32
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stack_usage_can: readonly uint32
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usb:
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c_is_class: False
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attributes:
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rx_cnt: readonly uint32
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tx_cnt: readonly uint32
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tx_overrun_cnt: readonly uint32
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i2c:
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c_is_class: False
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attributes:
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addr: readonly uint8
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addr_match_cnt: readonly uint32
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rx_cnt: readonly uint32
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error_cnt: readonly uint32
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config:
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c_is_class: False
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attributes:
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# TODO: add support for arrays
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gpio1_mode: {type: GpioMode, doc: Mode of GPIO1 (changes take effect after reboot), c_name: 'gpio_modes[1]'}
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gpio2_mode: {type: GpioMode, doc: Mode of GPIO2 (changes take effect after reboot), c_name: 'gpio_modes[2]'}
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gpio3_mode: {type: GpioMode, doc: Mode of GPIO3 (changes take effect after reboot), c_name: 'gpio_modes[3]'}
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gpio4_mode: {type: GpioMode, doc: Mode of GPIO4 (changes take effect after reboot), c_name: 'gpio_modes[4]'}
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gpio5_mode: {type: GpioMode, doc: Mode of GPIO5 (changes take effect after reboot), c_name: 'gpio_modes[5]'}
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gpio6_mode: {type: GpioMode, doc: Mode of GPIO6 (changes take effect after reboot), c_name: 'gpio_modes[6]'}
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gpio7_mode: {type: GpioMode, doc: Mode of GPIO7 (changes take effect after reboot), c_name: 'gpio_modes[7]'}
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gpio8_mode: {type: GpioMode, doc: Mode of GPIO8 (changes take effect after reboot), c_name: 'gpio_modes[8]'}
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gpio9_mode: {type: GpioMode, doc: Mode of GPIO9 (changes take effect after reboot), c_name: 'gpio_modes[9]'}
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gpio10_mode: {type: GpioMode, doc: Mode of GPIO10 (changes take effect after reboot), c_name: 'gpio_modes[10]'}
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gpio11_mode: {type: GpioMode, doc: Mode of GPIO11 (changes take effect after reboot), c_name: 'gpio_modes[11]'}
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gpio12_mode: {type: GpioMode, doc: Mode of GPIO12 (changes take effect after reboot), c_name: 'gpio_modes[12]'}
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gpio13_mode: {type: GpioMode, doc: Mode of GPIO13 (changes take effect after reboot), c_name: 'gpio_modes[13]'}
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gpio14_mode: {type: GpioMode, doc: Mode of GPIO14 (changes take effect after reboot), c_name: 'gpio_modes[14]'}
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gpio15_mode: {type: GpioMode, doc: Mode of GPIO15 (changes take effect after reboot), c_name: 'gpio_modes[15]'}
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gpio16_mode: {type: GpioMode, doc: Mode of GPIO16 (changes take effect after reboot), c_name: 'gpio_modes[16]'}
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enable_uart0:
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type: bool
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doc: Enables/disables UART0. You also need to set the corresponding GPIOs to GPIO_MODE_UART0. Changing this requires a reboot.
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enable_uart1: {type: bool, doc: Not supported on ODrive v3.x.}
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enable_uart2: {type: bool, doc: Not supported on ODrive v3.x.}
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uart0_baudrate:
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type: uint32
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doc: |
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Defines the baudrate used on the UART interface.
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Some baudrates will have a small timing error due to hardware limitations.
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Here's an (incomplete) list of baudrates for ODrive v3.x:
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Configured | Actual | Error [%]
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-------------|---------------|-----------
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1.2 KBps | 1.2 KBps | 0
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2.4 KBps | 2.4 KBps | 0
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9.6 KBps | 9.6 KBps | 0
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19.2 KBps | 19.195 KBps | 0.02
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38.4 KBps | 38.391 KBps | 0.02
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57.6 KBps | 57.613 KBps | 0.02
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115.2 KBps | 115.068 KBps | 0.11
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230.4 KBps | 230.769 KBps | 0.16
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460.8 KBps | 461.538 KBps | 0.16
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921.6 KBps | 913.043 KBps | 0.93
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1.792 MBps | 1.826 MBps | 1.9
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1.8432 MBps | 1.826 MBps | 0.93
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For more information refer to Section 30.3.4 and Table 142 (the column with f_PCLK = 42 MHz) in the
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[STM datasheet](https://www.st.com/content/ccc/resource/technical/document/reference_manual/3d/6d/5a/66/b4/99/40/d4/DM00031020.pdf/files/DM00031020.pdf/jcr:content/translations/en.DM00031020.pdf).
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uart1_baudrate: {type: uint32, doc: Not supported on ODrive v3.x.}
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uart2_baudrate: {type: uint32, doc: Not supported on ODrive v3.x.}
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enable_can0:
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type: bool
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doc: |
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Enables CAN. Changing this setting requires a reboot.
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enable_i2c0:
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type: bool
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doc: |
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Enables I2C. The I2C pins on ODrive v3.x are in conflict with CAN.
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This setting has no effect if `enable_can0` is also true.
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This setting has no effect on ODrive v3.2 or earlier.
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Changing this setting requires a reboot.
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enable_ascii_protocol_on_usb: bool
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max_regen_current: float32
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brake_resistance:
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type: float32
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unit: Ohm
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brief: Value of the brake resistor connected to the ODrive.
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doc: Set to 0 to disable.
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dc_bus_undervoltage_trip_level:
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type: float32
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unit: V
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brief: Minimum voltage below which the motor stops operating.
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dc_bus_overvoltage_trip_level:
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type: float32
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unit: V
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brief: Maximum voltage above which the motor stops operating.
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doc: |
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This protects against cases in which the power supply fails to dissipate
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the brake power if the brake resistor is disabled.
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The default is 26V for the 24V board version and 52V for the 48V board version.
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enable_dc_bus_overvoltage_ramp:
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type: bool
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status: experimental
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brief: Enables the DC bus overvoltage ramp feature.
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doc: |
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If enabled, if the measured DC voltage exceeds `dc_bus_overvoltage_ramp_start`,
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the ODrive will sink more power than usual into the the brake resistor
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in an attempt to bring the voltage down again.
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The brake duty cycle is increased by the following amount:
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* `vbus_voltage` == `dc_bus_overvoltage_ramp_start` => brake_duty_cycle += 0%
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* `vbus_voltage` == `dc_bus_overvoltage_ramp_end` => brake_duty_cycle += 100%
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Remarks:
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- This feature is active even when all motors are disarmed.
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- This feature is disabled if `brake_resistance` is non-positive.
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dc_bus_overvoltage_ramp_start:
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type: float32
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status: experimental
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brief: See `enable_dc_bus_overvoltage_ramp`.
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doc: Do not set this lower than your usual `vbus_voltage`,
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unless you like fried brake resistors.
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dc_bus_overvoltage_ramp_end:
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type: float32
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status: experimental
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brief: See `enable_dc_bus_overvoltage_ramp`.
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doc: Must be larger than `dc_bus_overvoltage_ramp_start`,
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otherwise the ramp feature is disabled.
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dc_max_positive_current:
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type: float32
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unit: A
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brief: Max current the power supply can source.
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dc_max_negative_current:
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type: float32
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unit: A
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brief: Max current the power supply can sink.
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doc: You most likely want a non-positive value here. Set to -INFINITY to disable.
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gpio1_pwm_mapping: {type: Endpoint, c_name: 'pwm_mappings[0]', doc: Make sure the corresponding GPIO is in `GPIO_MODE_PWM0`.}
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gpio2_pwm_mapping: {type: Endpoint, c_name: 'pwm_mappings[1]', doc: Make sure the corresponding GPIO is in `GPIO_MODE_PWM0`.}
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gpio3_pwm_mapping: {type: Endpoint, c_name: 'pwm_mappings[2]', doc: Make sure the corresponding GPIO is in `GPIO_MODE_PWM0`.}
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gpio4_pwm_mapping: {type: Endpoint, c_name: 'pwm_mappings[3]', doc: Make sure the corresponding GPIO is in `GPIO_MODE_PWM0`.}
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gpio3_analog_mapping: {type: Endpoint, c_name: 'analog_mappings[3]', doc: Make sure the corresponding GPIO is in `GPIO_MODE_ANALOG_IN`.}
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gpio4_analog_mapping: {type: Endpoint, c_name: 'analog_mappings[4]', doc: Make sure the corresponding GPIO is in `GPIO_MODE_ANALOG_IN`.}
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user_config_loaded: readonly uint32
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misconfigured:
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type: readonly bool
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doc: |
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If this property is true, something is bad in the configuration. The
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ODrive can still be used in this state but the user should investigate
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which setting is problematic. This variable does not cover all
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misconfigurations.
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Possible causes:
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- A GPIO was set to a mode that it doesn't support
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- A GPIO was set to a mode for which the corresponding feature was
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not enabled. Example: `GPIO_MODE_UART0` was used without enabling
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`config.enable_uart0`.
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- A feature was enabled which is not supported on this hardware.
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Example: `config.enable_uart2` set to true on ODrive v3.x.
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- A GPIO was used as an interrupt input for two internal components
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or two GPIOs that are mutually exclusive in their interrupt
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capability were both used as interrupt input.
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Example: `step_gpio_pin` of both axes were set to the same GPIO.
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axis0: {type: Axis, c_name: get_axis(0)}
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axis1: {type: Axis, c_name: get_axis(1)}
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can: {type: Can, c_name: get_can()}
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test_property: uint32
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functions:
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test_function: {in: {delta: int32}, out: {cnt: int32}}
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get_oscilloscope_val: {in: {index: uint32}, out: {val: float32}}
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get_adc_voltage: {in: {gpio: uint32}, out: {voltage: float32}, doc: Reads the ADC voltage of the specified GPIO. The GPIO should be in `GPIO_MODE_ANALOG_IN`.}
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save_configuration:
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erase_configuration:
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reboot:
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enter_dfu_mode:
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get_interrupt_status:
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in: {irqn: {type: int32, doc: '-12...-1: processor interrupts, 0...239: NVIC interrupts'}}
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out:
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status:
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type: uint32
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doc: |
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bit 31: enabled (1) or disabled (0)
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bits 30:8: number of times the interrupt fired (modulo 0x800000)
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bits 7:0: priority (0 is highest priority)
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0xffffffff if the specified number is not a valid interrupt number.
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doc: Returns information about the specified interrupt number.
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get_dma_status:
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in: {stream_num: {type: uint8, doc: '0...7: DMA1 streams, 8...15: DMA2 streams'}}
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out:
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status:
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type: uint32
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doc: |
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bit 31: zero if the stream's configuration is equal to the reset state
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bits 4:2: channel
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bits 1:0: priority (3 is highest priority)
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0xffffffff if the specified number is not a valid DMA stream number.
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doc: Returns information about the specified DMA stream.
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ODrive.Can:
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c_is_class: True
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attributes:
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error:
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nullflag: None
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flags: {DuplicateCanIds: }
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config:
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c_is_class: False
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attributes:
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baud_rate: readonly uint32
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protocol: Protocol
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functions:
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set_baud_rate: {in: {baudRate: uint32}}
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ODrive.Endpoint:
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c_is_class: False
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attributes:
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endpoint: endpoint_ref
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min: float32
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max: float32
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ODrive.Axis:
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c_is_class: True
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attributes:
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error:
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nullflag: 'None'
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flags:
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InvalidState:
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brief: An invalid state was requested.
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doc: |
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You tried to run a state before you are allowed to. Typically you
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tried to run encoder calibration or closed loop control before the
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motor was calibrated, or you tried to run closed loop control
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before the encoder was calibrated.
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DcBusUnderVoltage:
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brief: The DC voltage fell below the limit configured in `config.dc_bus_undervoltage_trip_level`.
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doc: |
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Confirm that your power leads are connected securely. For initial
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testing a 12V PSU which can supply a couple of amps should be
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sufficient while the use of low current ‘wall wart’ plug packs may
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lead to inconsistent behaviour and is not recommended.
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You can monitor your PSU voltage using liveplotter in odrivetool
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by entering `start_liveplotter(lambda: [odrv0.vbus_voltage])`. If
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you see your votlage drop below `config.dc_bus_undervoltage_trip_level`
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(default: ~ 8V) then you will trip this error. Even a relatively
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small motor can draw multiple kW momentary and so unless you have
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a very large PSU or are running of a battery you may encounter
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this error when executing high speed movements with a high current
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limit. To limit your PSU power draw you can limit your motor
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current and/or velocity limit `controller.config.vel_limit` and
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`motor.config.current_lim`.
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DcBusOverVoltage:
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brief: The DC voltage exceeded the limit configured in `config.dc_bus_overvoltage_trip_level`.
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doc: |
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Confirm that you have a brake resistor of the correct value
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connected securely and that `config.brake_resistance` is set to
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the value of your brake resistor.
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You can monitor your PSU voltage using liveplotter in odrivetool
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by entering `start_liveplotter(lambda: [odrv0.vbus_voltage])`. If
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during a move you see the voltage rise above your PSU’s nominal
|
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set voltage then you have your brake resistance set too low. This
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may happen if you are using long wires or small gauge wires to
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connect your brake resistor to your odrive which will added extra
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resistance. This extra resistance needs to be accounted for to
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prevent this voltage spike. If you have checked all your
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connections you can also try increasing your brake resistance by
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~ 0.01 Ohm at a time to a maximum of 0.05 greater than your brake
|
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resistor value.
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CurrentMeasurementTimeout:
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BrakeResistorDisarmed:
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doc: The brake resistor was unexpectedly disarmed.
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MotorDisarmed:
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doc: The motor was unexpectedly disarmed.
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MotorFailed:
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doc: Check `motor.error` for more information.
|
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SensorlessEstimatorFailed:
|
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EncoderFailed:
|
||
doc: Check `encoder.error` for more information.
|
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ControllerFailed:
|
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PosCtrlDuringSensorless:
|
||
status: deprecated
|
||
WatchdogTimerExpired:
|
||
MinEndstopPressed:
|
||
MaxEndstopPressed:
|
||
EstopRequested:
|
||
HomingWithoutEndstop:
|
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bit: 17
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doc: the min endstop was not enabled during homing
|
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OverTemp:
|
||
doc: Check `fet_thermistor.error` and `motor_thermistor.error` for more information.
|
||
step_dir_active: readonly bool
|
||
current_state: readonly AxisState
|
||
requested_state: AxisState
|
||
loop_counter: readonly uint32
|
||
lockin_state:
|
||
typeargs: {fibre.Property.mode: readonly}
|
||
values:
|
||
Inactive:
|
||
Ramp:
|
||
Accelerate:
|
||
ConstVel:
|
||
is_homed: {type: bool, c_name: homing_.is_homed}
|
||
config:
|
||
c_is_class: False
|
||
attributes:
|
||
startup_motor_calibration:
|
||
type: bool
|
||
doc: run motor calibration at startup, skip otherwise
|
||
startup_encoder_index_search:
|
||
type: bool
|
||
doc: run encoder index search after startup, skip otherwise this only has an effect if encoder.config.use_index is also true
|
||
startup_encoder_offset_calibration:
|
||
type: bool
|
||
doc: run encoder offset calibration after startup, skip otherwise
|
||
startup_closed_loop_control:
|
||
type: bool
|
||
doc: enable closed loop control after calibration/startup
|
||
startup_sensorless_control:
|
||
type: bool
|
||
doc: enable sensorless control after calibration/startup
|
||
startup_homing:
|
||
type: bool
|
||
doc: enable homing after calibration/startup
|
||
enable_step_dir:
|
||
type: bool
|
||
doc: Enable step/dir input after calibration.
|
||
Make sure to set the corresponding GPIO's mode to `GPIO_MODE_DIGITAL`.
|
||
step_dir_always_on:
|
||
type: bool
|
||
doc: Keep step/dir enabled while the motor is disabled.
|
||
This is ignored if enable_step_dir is false.
|
||
This setting only takes effect on a state transition
|
||
into idle or out of closed loop control.
|
||
turns_per_step: float32
|
||
watchdog_timeout:
|
||
type: float32
|
||
unit: s
|
||
doc: 0 disables watchdog
|
||
enable_watchdog: bool
|
||
step_gpio_pin: {type: uint16, c_setter: 'set_step_gpio_pin'}
|
||
dir_gpio_pin: {type: uint16, c_setter: 'set_dir_gpio_pin'}
|
||
calibration_lockin: # TODO: this is a subset of lockin state
|
||
c_is_class: False
|
||
attributes:
|
||
current: float32
|
||
ramp_time: float32
|
||
ramp_distance: float32
|
||
accel: float32
|
||
vel: float32
|
||
sensorless_ramp: LockinConfig
|
||
general_lockin: LockinConfig
|
||
can_node_id:
|
||
type: uint32
|
||
doc: Both axes will have the same id to start
|
||
can_node_id_extended: bool
|
||
can_heartbeat_rate_ms: uint32
|
||
gate_driver:
|
||
c_name: gate_driver_exported_
|
||
c_is_class: False
|
||
attributes:
|
||
drv_fault:
|
||
typeargs: {fibre.Property.mode: readonly}
|
||
nullflag: NoFault
|
||
flags:
|
||
FetLowCOvercurrent: {bit: 0, doc: FET Low side, Phase C Over Current fault}
|
||
FetHighCOvercurrent: {bit: 1, doc: FET High side, Phase C Over Current fault}
|
||
FetLowBOvercurrent: {bit: 2, doc: FET Low side, Phase B Over Current fault}
|
||
FetHighBOvercurrent: {bit: 3, doc: FET High side, Phase B Over Current fault}
|
||
FetLowAOvercurrent: {bit: 4, doc: FET Low side, Phase A Over Current fault}
|
||
FetHighAOvercurrent: {bit: 5, doc: FET High side, Phase A Over Current fault}
|
||
OvertemperatureWarning: {bit: 6, doc: Over Temperature Warning fault}
|
||
OvertemperatureShutdown: {bit: 7, doc: Over Temperature Shut Down fault}
|
||
PVddUndervoltage: {bit: 8, doc: Power supply Vdd Under Voltage fault}
|
||
GVddUndervoltage: {bit: 9, doc: DRV8301 Vdd Under Voltage fault}
|
||
GVddOvervoltage: {bit: 10, doc: DRV8301 Vdd Over Voltage fault}
|
||
# status_reg_1: readonly uint32
|
||
# status_reg_2: readonly uint32
|
||
# ctrl_reg_1: readonly uint32
|
||
# ctrl_reg_2: readonly uint32
|
||
fet_thermistor: OnboardThermistorCurrentLimiter
|
||
motor_thermistor: OffboardThermistorCurrentLimiter
|
||
motor: Motor
|
||
controller: Controller
|
||
encoder: Encoder
|
||
sensorless_estimator: SensorlessEstimator
|
||
trap_traj: TrapezoidalTrajectory
|
||
min_endstop: Endstop
|
||
max_endstop: Endstop
|
||
functions:
|
||
watchdog_feed:
|
||
doc: Feed the watchdog to prevent watchdog timeouts.
|
||
clear_errors:
|
||
doc: Check the watchdog timer for expiration. Also sets the watchdog error bit if expired.
|
||
|
||
ODrive.Axis.LockinConfig:
|
||
c_is_class: False
|
||
attributes:
|
||
current:
|
||
type: float32
|
||
unit: A
|
||
ramp_time:
|
||
type: float32
|
||
unit: s
|
||
ramp_distance:
|
||
type: float32
|
||
unit: rad
|
||
accel:
|
||
type: float32
|
||
unit: rad/s^2
|
||
vel:
|
||
type: float32
|
||
unit: rad/s
|
||
finish_distance:
|
||
type: float32
|
||
unit: rad
|
||
finish_on_vel: bool
|
||
finish_on_distance: bool
|
||
finish_on_enc_idx: bool
|
||
|
||
ODrive.ThermistorCurrentLimiter:
|
||
c_is_class: False
|
||
|
||
ODrive.OnboardThermistorCurrentLimiter:
|
||
c_is_class: True
|
||
attributes:
|
||
error: ThermistorCurrentLimiter.Error
|
||
temperature: readonly float32
|
||
config:
|
||
c_is_class: False
|
||
attributes:
|
||
temp_limit_lower:
|
||
type: float32
|
||
doc: The lower limit when the controller starts limiting current.
|
||
temp_limit_upper:
|
||
type: float32
|
||
doc: The upper limit when current limit reaches 0 Amps and an over temperature error is triggered.
|
||
enabled: {type: bool, doc: Whether this thermistor is enabled. }
|
||
|
||
ODrive.OffboardThermistorCurrentLimiter:
|
||
c_is_class: True
|
||
attributes:
|
||
error: ThermistorCurrentLimiter.Error
|
||
temperature: readonly float32
|
||
config:
|
||
c_is_class: False
|
||
attributes:
|
||
gpio_pin: {type: uint16, c_setter: set_gpio_pin}
|
||
poly_coefficient_0: {type: float32, c_name: 'thermistor_poly_coeffs[0]'}
|
||
poly_coefficient_1: {type: float32, c_name: 'thermistor_poly_coeffs[1]'}
|
||
poly_coefficient_2: {type: float32, c_name: 'thermistor_poly_coeffs[2]'}
|
||
poly_coefficient_3: {type: float32, c_name: 'thermistor_poly_coeffs[3]'}
|
||
temp_limit_lower:
|
||
type: float32
|
||
doc: The lower limit when the controller starts limiting current.
|
||
temp_limit_upper:
|
||
type: float32
|
||
doc: The upper limit when current limit reaches 0 Amps and an over temperature error is triggered.
|
||
enabled: {type: bool, doc: Whether this thermistor is enabled. }
|
||
|
||
ODrive.Motor:
|
||
c_is_class: True
|
||
attributes:
|
||
error:
|
||
nullflag: None
|
||
flags:
|
||
PhaseResistanceOutOfRange:
|
||
brief: The measured motor phase resistance is outside of the plausible range.
|
||
doc: |
|
||
During calibration the motor resistance and
|
||
[inductance](https://en.wikipedia.org/wiki/Inductance) is measured.
|
||
If the measured motor resistance or inductance falls outside a set
|
||
range this error will be returned. Check that all motor leads are
|
||
connected securely.
|
||
|
||
The measured values can be viewed using odrivetool as is shown below:
|
||
```
|
||
In [2]: odrv0.axis0.motor.config.phase_inductance
|
||
Out[2]: 1.408751450071577e-05
|
||
|
||
In [3]: odrv0.axis0.motor.config.phase_resistance
|
||
Out[3]: 0.029788672924041748
|
||
```
|
||
Some motors will have a considerably different phase resistance
|
||
and inductance than this. For example, gimbal motors, some small
|
||
motors (e.g. < 10A peak current). If you think this applies to you
|
||
try increasing `config.resistance_calib_max_voltage` from
|
||
its default value of 1 using odrivetool and repeat the motor
|
||
calibration process. If your motor has a small peak current draw
|
||
(e.g. < 20A) you can also try decreasing
|
||
`config.calibration_current` from its default value of 10A.
|
||
|
||
In general, you need
|
||
```text
|
||
resistance_calib_max_voltage > calibration_current * phase_resistance
|
||
resistance_calib_max_voltage < 0.5 * vbus_voltage
|
||
```
|
||
PhaseInductanceOutOfRange:
|
||
brief: The measured motor phase inductance is outside of the plausible range.
|
||
doc: |
|
||
See `PhaseResistanceOutOfRange` for details.
|
||
AdcFailed:
|
||
DrvFault:
|
||
brief: The gate driver chip reported an error.
|
||
doc: |
|
||
The ODrive v3.4 is known to have a hardware issue whereby the
|
||
motors would stop operating when applying high currents to M0. The
|
||
reported error of both motors in this case is `ERROR_DRV_FAULT`.
|
||
|
||
The conjecture is that the high switching current creates large
|
||
ripples in the power supply of the DRV8301 gate driver chips, thus
|
||
tripping its under-voltage fault detection.
|
||
|
||
To resolve this issue you can limit the M0 current to 40A. The
|
||
lowest current at which the DRV fault was observed is 45A on one
|
||
test motor and 50A on another test motor. Refer to
|
||
[this post](https://discourse.odriverobotics.com/t/drv-fault-on-odrive-v3-4/558)
|
||
for instructions for a hardware fix.
|
||
ControlDeadlineMissed:
|
||
NotImplementedMotorType:
|
||
BrakeCurrentOutOfRange:
|
||
ModulationMagnitude:
|
||
doc: |
|
||
The bus voltage was insufficent to push the requested current
|
||
through the motor.
|
||
If you are getting this during motor calibration, make sure that
|
||
`config.resistance_calib_max_voltage` is no more than half
|
||
your bus voltage.
|
||
|
||
For gimbal motors, it is recommended to set the
|
||
`config.calibration_current` and `config.current_lim`
|
||
to half your bus voltage, or less.
|
||
BrakeDeadtimeViolation:
|
||
UnexpectedTimerCallback:
|
||
CurrentSenseSaturation:
|
||
CurrentLimitViolation: {bit: 12}
|
||
BrakeDutyCycleNan:
|
||
DcBusOverRegenCurrent: {doc: too much current pushed into the power supply}
|
||
DcBusOverCurrent: {doc: too much current pulled out of the power supply}
|
||
ModulationIsNan:
|
||
armed_state:
|
||
typeargs: {fibre.Property.mode: readonly}
|
||
values:
|
||
Disarmed:
|
||
WaitingForTimings:
|
||
WaitingForUpdate:
|
||
Armed:
|
||
is_calibrated: readonly bool
|
||
current_meas_phB: {type: readonly float32, c_name: current_meas_.phB}
|
||
current_meas_phC: {type: readonly float32, c_name: current_meas_.phC}
|
||
DC_calib_phB: {type: float32, c_name: DC_calib_.phB}
|
||
DC_calib_phC: {type: float32, c_name: DC_calib_.phC}
|
||
phase_current_rev_gain: float32
|
||
effective_current_lim: readonly float32
|
||
current_control:
|
||
c_is_class: False
|
||
attributes:
|
||
p_gain: float32
|
||
i_gain: float32
|
||
v_current_control_integral_d: float32
|
||
v_current_control_integral_q: float32
|
||
Ibus: float32
|
||
final_v_alpha: float32
|
||
final_v_beta: float32
|
||
Id_setpoint: float32
|
||
Iq_setpoint: readonly float32
|
||
Iq_measured: float32
|
||
Id_measured: float32
|
||
I_measured_report_filter_k: float32
|
||
max_allowed_current: readonly float32
|
||
overcurrent_trip_level: readonly float32
|
||
acim_rotor_flux: float32
|
||
async_phase_vel: readonly float32
|
||
async_phase_offset: float32
|
||
timing_log:
|
||
c_is_class: False
|
||
attributes:
|
||
general: {type: readonly uint16, c_name: 'get(0)'}
|
||
adc_cb_i: {type: readonly uint16, c_name: 'get(1)'}
|
||
adc_cb_dc: {type: readonly uint16, c_name: 'get(2)'}
|
||
meas_r: {type: readonly uint16, c_name: 'get(3)'}
|
||
meas_l: {type: readonly uint16, c_name: 'get(4)'}
|
||
enc_calib: {type: readonly uint16, c_name: 'get(5)'}
|
||
idx_search: {type: readonly uint16, c_name: 'get(6)'}
|
||
foc_voltage: {type: readonly uint16, c_name: 'get(7)'}
|
||
foc_current: {type: readonly uint16, c_name: 'get(8)'}
|
||
spi_start: {type: readonly uint16, c_name: 'get(9)'}
|
||
sample_now: {type: readonly uint16, c_name: 'get(10)'}
|
||
spi_end: {type: readonly uint16, c_name: 'get(11)'}
|
||
config:
|
||
c_is_class: False
|
||
attributes:
|
||
pre_calibrated: {type: bool, c_setter: set_pre_calibrated}
|
||
pole_pairs: int32
|
||
calibration_current: float32
|
||
resistance_calib_max_voltage: float32
|
||
phase_inductance: {type: float32, c_setter: set_phase_inductance}
|
||
phase_resistance: {type: float32, c_setter: set_phase_resistance}
|
||
torque_constant: float32
|
||
direction: int32
|
||
motor_type: MotorType
|
||
current_lim: float32
|
||
current_lim_margin: float32
|
||
torque_lim: float32
|
||
inverter_temp_limit_lower: float32
|
||
inverter_temp_limit_upper: float32
|
||
requested_current_range: float32
|
||
current_control_bandwidth: {type: float32, c_setter: set_current_control_bandwidth}
|
||
acim_slip_velocity: float32
|
||
acim_gain_min_flux: float32
|
||
acim_autoflux_min_Id: float32
|
||
acim_autoflux_enable: bool
|
||
acim_autoflux_attack_gain: float32
|
||
acim_autoflux_decay_gain: float32
|
||
R_wL_FF_enable: bool
|
||
bEMF_FF_enable: bool
|
||
|
||
ODrive.Controller:
|
||
c_is_class: True
|
||
attributes:
|
||
error:
|
||
nullflag: None
|
||
flags:
|
||
Overspeed:
|
||
doc: |
|
||
Try increasing `config.vel_limit`. The default of 2 turns per second
|
||
gives a motor speed of only 120 RPM. Note: Even if
|
||
you do not commanded your motor to exceed `config.vel_limit`
|
||
sudden changes in the load placed on a motor may cause this speed
|
||
to be temporarily exceeded, resulting in this error.
|
||
|
||
You can also try increasing `config.vel_limit_tolerance`. The
|
||
default value of 1.2 means it will only allow a 20% violation of
|
||
the speed limit. You can set the `config.vel_limit_tolerance` to 0
|
||
to disable the check altogether.
|
||
InvalidInputMode:
|
||
UnstableGain:
|
||
InvalidMirrorAxis:
|
||
InvalidLoadEncoder:
|
||
InvalidEstimate:
|
||
input_pos:
|
||
type: float32
|
||
unit: turn
|
||
c_setter: set_input_pos
|
||
input_vel:
|
||
type: float32
|
||
unit: turn/s
|
||
input_torque: float32
|
||
pos_setpoint: readonly float32
|
||
vel_setpoint: readonly float32
|
||
torque_setpoint: readonly float32
|
||
trajectory_done: readonly bool
|
||
vel_integrator_torque: float32
|
||
anticogging_valid: bool
|
||
config:
|
||
c_is_class: False
|
||
attributes:
|
||
gain_scheduling_width: float32
|
||
enable_vel_limit: bool
|
||
enable_current_mode_vel_limit:
|
||
type: bool
|
||
doc: Enable velocity limit in current control mode (requires a valid velocity estimator).
|
||
enable_gain_scheduling: bool
|
||
enable_overspeed_error: bool
|
||
control_mode: ControlMode
|
||
input_mode: InputMode
|
||
pos_gain:
|
||
type: float32
|
||
unit: (turn/s) / turn
|
||
vel_gain:
|
||
type: float32
|
||
unit: 'Nm/(turn/s)'
|
||
vel_integrator_gain:
|
||
type: float32
|
||
unit: Nm/(turn/s * s)
|
||
vel_limit:
|
||
type: float32
|
||
unit: turn/s
|
||
doc: Infinity to disable.
|
||
vel_limit_tolerance:
|
||
type: float32
|
||
doc: Ratio to `vel_limit`. Infinity to disable.
|
||
vel_ramp_rate: float32
|
||
torque_ramp_rate:
|
||
type: float32
|
||
unit: Nm / sec
|
||
circular_setpoints:
|
||
type: bool
|
||
circular_setpoint_range:
|
||
type: float32
|
||
doc: circular range in [turns] for position setpoints when circular_setpoints is True
|
||
homing_speed:
|
||
type: float32
|
||
unit: turns/s
|
||
inertia:
|
||
type: float32
|
||
unit: Nm/(turn/s^2)
|
||
axis_to_mirror: uint8
|
||
mirror_ratio: float32
|
||
load_encoder_axis:
|
||
type: uint8
|
||
# TODO: this is meaningless for a user. Should there be a separate developer note?
|
||
doc: Default depends on Axis number and is set in load_configuration()
|
||
input_filter_bandwidth:
|
||
type: float32
|
||
unit: 1/s
|
||
c_setter: set_input_filter_bandwidth
|
||
anticogging:
|
||
c_is_class: False
|
||
attributes:
|
||
index: readonly uint32
|
||
pre_calibrated: bool
|
||
calib_anticogging: readonly bool
|
||
calib_pos_threshold: float32
|
||
calib_vel_threshold: float32
|
||
cogging_ratio: readonly float32
|
||
anticogging_enabled: bool
|
||
functions:
|
||
move_incremental:
|
||
doc: Moves the axes' goal point by a specified increment.
|
||
in:
|
||
displacement: {type: float32, doc: The desired position change.}
|
||
from_input_pos: {type: bool, doc:
|
||
'If true, the increment is applied relative to `input_pos`.
|
||
If false, the increment is applied relative to `pos_setpoint`, which
|
||
usually corresponds roughly to the current position of the axis.'
|
||
}
|
||
start_anticogging_calibration:
|
||
|
||
|
||
ODrive.Encoder:
|
||
c_is_class: True
|
||
attributes:
|
||
error:
|
||
nullflag: None
|
||
flags:
|
||
UnstableGain:
|
||
CprPolepairsMismatch:
|
||
doc: |
|
||
Confirm you have entered the correct count per rotation (CPR) for
|
||
[your encoder](https://docs.odriverobotics.com/encoders). The
|
||
ODrive uses your supplied value for the motor pole pairs to
|
||
measure the CPR. So you should also double check this value.
|
||
|
||
Note that the AMT encoders are configurable using the micro-
|
||
switches on the encoder PCB and so you may need to check that
|
||
these are in the right positions. If your encoder lists its pulse
|
||
per rotation (PPR) multiply that number by four to get CPR.
|
||
NoResponse:
|
||
doc: |
|
||
Confirm that your encoder is plugged into the right pins on the
|
||
ODrive board.
|
||
UnsupportedEncoderMode:
|
||
IllegalHallState:
|
||
IndexNotFoundYet:
|
||
doc: |
|
||
Check that your encoder is a model that has an index pulse. If
|
||
your encoder does not have a wire connected to pin Z on your
|
||
ODrive then it does not output an index pulse.
|
||
AbsSpiTimeout:
|
||
AbsSpiComFail:
|
||
AbsSpiNotReady:
|
||
is_ready: readonly bool
|
||
index_found: readonly bool
|
||
shadow_count: readonly int32
|
||
count_in_cpr: readonly int32
|
||
interpolation: readonly float32
|
||
phase: readonly float32
|
||
pos_estimate: readonly float32
|
||
pos_estimate_counts: readonly float32
|
||
pos_cpr: readonly float32
|
||
pos_cpr_counts: readonly float32
|
||
pos_circular: readonly float32
|
||
hall_state: readonly uint8
|
||
vel_estimate: readonly float32
|
||
vel_estimate_counts: readonly float32
|
||
calib_scan_response: readonly float32
|
||
pos_abs: int32
|
||
spi_error_rate: readonly float32
|
||
config:
|
||
c_is_class: False
|
||
attributes:
|
||
mode: Mode
|
||
use_index: {type: bool, c_setter: set_use_index}
|
||
find_idx_on_lockin_only: {type: bool, c_setter: set_find_idx_on_lockin_only}
|
||
abs_spi_cs_gpio_pin: {type: uint16, c_setter: set_abs_spi_cs_gpio_pin, doc: Make sure that the GPIO is in `GPIO_MODE_DIGITAL`.}
|
||
zero_count_on_find_idx: bool
|
||
cpr: int32
|
||
offset: int32
|
||
pre_calibrated: {type: bool, c_setter: set_pre_calibrated}
|
||
offset_float: float32
|
||
enable_phase_interpolation: bool
|
||
bandwidth: {type: float32, c_setter: set_bandwidth}
|
||
calib_range: float32
|
||
calib_scan_distance: float32
|
||
calib_scan_omega: float32
|
||
idx_search_unidirectional: bool
|
||
ignore_illegal_hall_state: bool
|
||
sincos_gpio_pin_sin:
|
||
type: uint16
|
||
doc: Analog sine signal of a sin/cos encoder. The corresponding GPIO must be in `GPIO_MODE_ANALOG_IN`.
|
||
sincos_gpio_pin_cos:
|
||
type: uint16
|
||
doc: Analog cosine signal of a sin/cos encoder. The corresponding GPIO must be in `GPIO_MODE_ANALOG_IN`.
|
||
functions:
|
||
set_linear_count: {in: {count: int32}}
|
||
|
||
|
||
ODrive.SensorlessEstimator:
|
||
c_is_class: True
|
||
attributes:
|
||
error:
|
||
nullflag: None
|
||
flags:
|
||
UnstableGain:
|
||
phase: float32
|
||
pll_pos: float32
|
||
vel_estimate: float32
|
||
# pll_kp: float32
|
||
# pll_ki: float32
|
||
config:
|
||
c_is_class: False
|
||
attributes:
|
||
observer_gain: float32
|
||
pll_bandwidth: float32
|
||
pm_flux_linkage: float32
|
||
|
||
|
||
ODrive.TrapezoidalTrajectory:
|
||
c_is_class: True
|
||
attributes:
|
||
config:
|
||
c_is_class: False
|
||
attributes:
|
||
vel_limit: float32
|
||
accel_limit: float32
|
||
decel_limit: float32
|
||
|
||
|
||
ODrive.Endstop:
|
||
c_is_class: True
|
||
attributes:
|
||
endstop_state: readonly bool
|
||
config:
|
||
c_is_class: False
|
||
attributes:
|
||
gpio_num: {type: uint16, c_setter: set_gpio_num, doc: Make sure the corresponding GPIO is in `GPIO_MODE_DIGITAL`.}
|
||
enabled: {type: bool, c_setter: set_enabled}
|
||
offset: float32
|
||
is_active_high: bool
|
||
pullup: bool
|
||
debounce_ms: {type: uint32, c_setter: set_debounce_ms}
|
||
|
||
|
||
valuetypes:
|
||
ODrive.GpioMode:
|
||
values:
|
||
Digital:
|
||
doc: |
|
||
The pin can be used for one or more of these functions:
|
||
Step, dir, enable, encoder index, hall effect encoder, SPI encoder nCS (this one is exclusive).
|
||
AnalogIn:
|
||
doc: |
|
||
The pin can be used for one or more of these functions:
|
||
Sin/cos encoders, analog input, `get_adc_voltage`.
|
||
Uart0: {doc: See `config.enable_uart0`.}
|
||
Uart1: {doc: This mode is not supported on ODrive v3.x.}
|
||
Uart2: {doc: This mode is not supported on ODrive v3.x.}
|
||
Can0: {doc: See `config.enable_can0`.}
|
||
I2c0: {doc: See `config.enable_i2c0`.}
|
||
Spi0: {doc: Note that the SPI pins on ODrive v3.x are hardwired so they
|
||
cannot be configured through software. Consequently, even though SPI0
|
||
is exposed, this mode is of no use on ODrive v3.x.}
|
||
Pwm0: {doc: See `config.gpio0_pwm_mapping`.}
|
||
Enc0: {doc: The pin is used by quadrature encoder 0.}
|
||
Enc1: {doc: The pin is used by quadrature encoder 1.}
|
||
Enc2: {doc: This mode is not supported on ODrive v3.x.}
|
||
|
||
ODrive.Can.Protocol:
|
||
values: {Simple: }
|
||
|
||
ODrive.Axis.AxisState: # TODO: remove redundant "Axis" in name
|
||
values:
|
||
Undefined:
|
||
doc: will fall through to idle
|
||
Idle:
|
||
brief: Disable motor PWM and do nothing.
|
||
StartupSequence:
|
||
brief: Run the startup procedure.
|
||
doc: the actual sequence is defined by the `config`.startup... flags
|
||
FullCalibrationSequence:
|
||
doc: Run motor calibration and then encoder offset calibration (or encoder
|
||
index search if `<axis>.encoder.config.use_index` is `True`).
|
||
MotorCalibration:
|
||
brief: Measure phase resistance and phase inductance of the motor.
|
||
doc: |
|
||
* To store the results set `motor.config.pre_calibrated` to `True`
|
||
and save the configuration (`save_configuration()`). After that you
|
||
don't have to run the motor calibration on the next start up.
|
||
* This modifies the variables `motor.config.phase_resistance` and
|
||
`motor.config.phase_inductance`.
|
||
SensorlessControl:
|
||
brief: Run sensorless control.
|
||
doc: |
|
||
* The motor must be calibrated (`motor.is_calibrated`)
|
||
* `controller.config.control_mode` must be `True`.
|
||
EncoderIndexSearch:
|
||
brief: Turn the motor in one direction until the encoder index is traversed.
|
||
doc: This state can only be entered if `encoder.config.use_index` is `True`.
|
||
EncoderOffsetCalibration:
|
||
brief: Turn the motor in one direction for a few seconds and then back to measure the offset between the encoder position and the electrical phase.
|
||
doc: |
|
||
* Can only be entered if the motor is calibrated (`motor.is_calibrated`).
|
||
* A successful encoder calibration will make the `encoder.is_ready`
|
||
go to true.
|
||
ClosedLoopControl:
|
||
brief: Run closed loop control.
|
||
doc: |
|
||
* The action depends on the `controller.config.control_mode`.
|
||
* Can only be entered if the motor is calibrated
|
||
(`motor.is_calibrated`) and the encoder is ready (`encoder.is_ready`).
|
||
LockinSpin:
|
||
brief: Run lockin spin.
|
||
doc: |
|
||
Can only be entered if the motor is calibrated (`motor.is_calibrated`)
|
||
or the motor direction is unspecified (`motor.config.direction` == 1)
|
||
EncoderDirFind:
|
||
brief: Run encoder direction search.
|
||
doc: |
|
||
Can only be entered if the motor is calibrated (`motor.is_calibrated`).
|
||
Homing:
|
||
brief: Run axis homing function.
|
||
doc:
|
||
Endstops must be enabled to use this feature.
|
||
|
||
ODrive.ThermistorCurrentLimiter.Error:
|
||
nullflag: None
|
||
flags:
|
||
OverTemp:
|
||
doc: The thermistor temperature upper limit was exceeded.
|
||
|
||
ODrive.Encoder.Mode:
|
||
values:
|
||
Incremental:
|
||
Hall:
|
||
Sincos:
|
||
SpiAbsCui:
|
||
value: 0x100
|
||
doc: compatible with CUI AMT23xx
|
||
SpiAbsAms:
|
||
value: 0x101
|
||
doc: compatible with AMS AS5047P, AS5048A/AS5048B (no daisy chain support)
|
||
SpiAbsAeat:
|
||
value: 0x102
|
||
doc: not yet implemented
|
||
SpiAbsRls:
|
||
value: 0x103
|
||
doc: RLS Encoders
|
||
|
||
ODrive.Controller.ControlMode:
|
||
values:
|
||
# Note: these should be sorted from lowest level of control to
|
||
# highest level of control, to allow "<" style comparisons.
|
||
VoltageControl:
|
||
doc: this one is not normally used
|
||
TorqueControl:
|
||
VelocityControl:
|
||
PositionControl:
|
||
|
||
ODrive.Controller.InputMode:
|
||
values:
|
||
Inactive:
|
||
brief: Disable inputs. Setpoints retain their last value.
|
||
Passthrough:
|
||
brief: Pass `input_xxx` through to `xxx_setpoint` directly.
|
||
doc: |
|
||
### Valid Inputs:
|
||
* `input_pos`
|
||
* `input_vel`
|
||
* `input_current`
|
||
|
||
### Valid Control modes:
|
||
* `CONTROL_MODE_VOLTAGE_CONTROL`
|
||
* `CONTROL_MODE_TORQUE_CONTROL`
|
||
* `CONTROL_MODE_VELOCITY_CONTROL`
|
||
* `CONTROL_MODE_POSITION_CONTROL`
|
||
VelRamp:
|
||
brief: Ramps a velocity command from the current value to the target value.
|
||
doc: |
|
||
### Configuration Values:
|
||
* `config.vel_ramp_rate` [turn/sec]
|
||
* `config.inertia` [Nm/(turn/s^2))]
|
||
|
||
### Valid inputs:
|
||
* `input_vel`
|
||
|
||
### Valid Control Modes:
|
||
* `CONTROL_MODE_VELOCITY_CONTROL`
|
||
PosFilter:
|
||
brief: Implements a 2nd order position tracking filter.
|
||
doc: |
|
||
Intended 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:
|
||
* `config.input_filter_bandwidth`
|
||
* `config.inertia`
|
||
|
||
### Valid inputs:
|
||
* `input_pos`
|
||
|
||
### Valid Control modes:
|
||
* `CONTROL_MODE_POSITION_CONTROL`
|
||
MixChannels:
|
||
brief: Not Implemented.
|
||
TrapTraj:
|
||
brief: Implementes an online trapezoidal trajectory planner.
|
||
doc: |
|
||
|
||
|
||
### Configuration Values:
|
||
* `trap_traj.config.vel_limit`
|
||
* `trap_traj.config.accel_limit`
|
||
* `trap_traj.config.decel_limit`
|
||
* `config.inertia`
|
||
|
||
### Valid Inputs:
|
||
* `input_pos`
|
||
|
||
### Valid Control Modes:
|
||
* `CONTROL_MODE_POSITION_CONTROL`
|
||
TorqueRamp:
|
||
brief: Ramp a torque command from the current value to the target value.
|
||
doc: |
|
||
### Configuration Values:
|
||
* `config.torque_ramp_rate`
|
||
|
||
### Valid Inputs:
|
||
* `input_current`
|
||
|
||
### Valid Control Modes:
|
||
* `CONTROL_MODE_TORQUE_CONTROL`
|
||
Mirror:
|
||
brief: Implements "electronic mirroring".
|
||
doc: |
|
||
This is like electronic camming, but you can only mirror exactly the
|
||
movements of the other motor, according to a fixed ratio.
|
||
|
||
[](http://www.youtube.com/watch?v=D4_vBtyVVzM "Example Mirroring Video")
|
||
|
||
### Configuration Values
|
||
* `config.axis_to_mirror`
|
||
* `config.mirror_ratio`
|
||
|
||
### Valid Inputs
|
||
* None. Inputs are taken directly from the other axis encoder estimates
|
||
|
||
### Valid Control modes
|
||
* `CONTROL_MODE_POSITION_CONTROL`
|
||
|
||
ODrive.Motor.MotorType:
|
||
values:
|
||
HighCurrent:
|
||
#LowCurrent: # not implemented
|
||
Gimbal: {value: 2}
|
||
Acim: |