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63 lines
1.6 KiB
Python
63 lines
1.6 KiB
Python
3 years ago
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from pathlib import Path, PurePath
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import click
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import yaml
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# OPTIONS
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config_option = click.option(
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'-c',
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'--config',
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default=PurePath(Path(__file__).parent, Path('odrive.yaml')),
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type=Path,
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help='A config file for the odrive. Defaults to odrive.yaml.'
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)
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@click.group()
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def cli():
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pass
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@cli.command('configure')
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@config_option
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def configure(**options):
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"""Configures an Odrive with a provided .yaml file of config values."""
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config_file = options['config']
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if not config_file.is_file():
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raise FileNotFoundError(f'No config file {config_file} found.')
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print(options['config'])
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class RoboWheelConfig:
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"""
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Class for configuring an Odrive axis.
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"""
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# Motor KV
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KV_RATING = 10.0
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# min/max phase inductance of motor
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MIN_PHASE_INDUCTANCE = 0.0 # ?
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MAX_PHASE_INDUCTANCE = 0.001 # ?
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# Min/Max phase resistance of motor
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MIN_PHASE_RESISTANCE = 0.0 # ?
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MAX_PHASE_RESISTANCE = 2.5 # ? I think my motor is 1.7 ohm...
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ENCODER_PULSE_PER_REV = 3200.0
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ENCODER_COUNT_PER_REV = ENCODER_PULSE_PER_REV * 4
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# Number of magnets in the motor divided by 2
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POLE_PAIR_COUNT = 27.0
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# See https://docs.odriverobotics.com/hoverboard
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RESISTANCE_CALIB_MAX_VOLTAGE = 4.0 # HB motors are larger with more resistance so he doubled the 2.0 default
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REQUESTED_CURRENT_RANGE = 25.0 # lower values are more sensitive default was 60
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CURRENT_CONTROL_BANDWIDTH = 100.0 # Motors are also high inductance so the bandwidth to 100 from the default 1000
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TORQUE_CONSTANT = 8.27 / KV_RATING
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if __name__ == "__main__":
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cli()
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