saving working hoverboard motor
Drew Bednar
3 years ago
parent
797a3d6dd1
commit
14149a1732
@ -1,62 +0,0 @@
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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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@ -0,0 +1,154 @@
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from pathlib import Path, PurePath
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import click
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import odrive
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import yaml
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# CONSTANTS
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AXIS_STATE_UNDEFINED = 0
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AXIS_STATE_IDLE = 1
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AXIS_STATE_STARTUP_SEQUENCE = 2
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AXIS_STATE_FULL_CALIBRATION_SEQUENCE = 3
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AXIS_STATE_MOTOR_CALIBRATION = 4
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AXIS_STATE_SENSORLESS_CONTROL = 5
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AXIS_STATE_ENCODER_INDEX_SEARCH = 6
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AXIS_STATE_ENCODER_OFFSET_CALIBRATION = 7
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AXIS_STATE_CLOSED_LOOP_CONTROL = 8
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INPUT_MODE_VEL_RAMP = 2
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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('config-encoder')
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@config_option
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def config_encoder(**options):
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"""Configures an Odrive with a provided .yaml file of config values."""
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odrv0 = odrive.find_any()
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odrv0.axis0.encoder.config.calib_range = 0.05
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odrv0.axis0.requested_state = AXIS_STATE_ENCODER_OFFSET_CALIBRATION
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# Set negative to reverse index search direction
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odrv0.axis1.encoder.config.calib_range = 0.05
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odrv0.axis1.requested_state = AXIS_STATE_ENCODER_OFFSET_CALIBRATION
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print("You're motor encoder should be configured.")
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return 0
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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_COUNT_PER_REV = 3200.0
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# Number of magnets in the motor divided by 2
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POLE_PAIR_COUNT = 15.0
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# See https://docs.odriverobotics.com/hoverboard
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RESISTANCE_CALIB_MAX_VOLTAGE = 6.0 # HB motors are larger with more resistance so he doubled the 2.0 default
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REQUESTED_CURRENT_RANGE = 35.0 # lower values are more sensitive default was 60
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CURRENT_CONTROL_BANDWIDTH = 1000.0 # 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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CALIBRATION_CURRENT = 2
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ENABLE_BRAKE_RESISTOR = True
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# Encoder steps
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"""
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odrv0.config.enable_brake_resistor = True # Using included 2ohm resistor
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odrv0.axis0.motor.config.calibration_current = 2 # highest integer value where I heard the square wave was 4
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odrv0.axis0.motor.config.pole_pairs = 15
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odrv0.axis0.motor.config.resistance_calib_max_voltage = 6 # motor config still worked with this set to 6
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odrv0.axis0.motor.config.requested_current_range = 35 # 35 was the lowest value that produced and audible square wave.
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odrv0.axis0.motor.config.current_control_bandwidth = 100.0
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odrv0.axis0.motor.config.torque_constant = 8.27 / 10 # KV 10
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odrv0.axis1.motor.config.calibration_current = 2 # highest integer value where I heard the square wave was 4
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odrv0.axis1.motor.config.pole_pairs = 15
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odrv0.axis1.motor.config.resistance_calib_max_voltage = 6 # motor config still worked with this set to 6
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odrv0.axis1.motor.config.requested_current_range = 35 # 35 was the lowest value that produced and audible square wave.
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odrv0.axis1.motor.config.current_control_bandwidth = 100.0
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odrv0.axis1.motor.config.torque_constant = 8.27 / 10 # KV 10
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# encoder
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odrv0.axis0.encoder.config.mode = ENCODER_MODE_INCREMENTAL
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odrv0.axis0.encoder.config.cpr = 3200
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odrv0.axis0.encoder.config.bandwidth = 1000
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odrv0.axis1.encoder.config.mode = ENCODER_MODE_INCREMENTAL
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odrv0.axis1.encoder.config.cpr = 3200
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odrv0.axis1.encoder.config.bandwidth = 1000
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odrv0.axis0.controller.config.input_mode = INPUT_MODE_VEL_RAMP
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odrv0.axis0.controller.config.control_mode = CONTROL_MODE_VELOCITY_CONTROL
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odrv0.axis0.controller.config.pos_gain = 1
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odrv0.axis0.controller.config.vel_gain = 0.002 * odrv0.axis0.motor.config.torque_constant * odrv0.axis0.encoder.config.cpr
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odrv0.axis0.controller.config.vel_integrator_gain = 0.01 * odrv0.axis0.motor.config.torque_constant * odrv0.axis0.encoder.config.cpr
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odrv0.axis0.controller.config.vel_limit = 5
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odrv0.axis1.controller.config.input_mode = INPUT_MODE_VEL_RAMP
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odrv0.axis1.controller.config.control_mode = CONTROL_MODE_VELOCITY_CONTROL
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odrv0.axis1.controller.config.pos_gain = 1
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odrv0.axis1.controller.config.vel_gain = 0.002 * odrv0.axis1.motor.config.torque_constant * odrv0.axis1.encoder.config.cpr
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odrv0.axis1.controller.config.vel_integrator_gain = 0.01 * odrv0.axis1.motor.config.torque_constant * odrv0.axis1.encoder.config.cpr
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odrv0.axis1.controller.config.vel_limit = 5
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# BREAK HERE
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odrv0.save_configuration()
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odrv0.reboot()
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odrv0.axis0.requested_state = AXIS_STATE_MOTOR_CALIBRATION
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dump_errors(odrv0)
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odrv0.axis1.requested_state = AXIS_STATE_MOTOR_CALIBRATION
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odrv0.axis0.motor.config.pre_calibrated = True
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odrv0.axis1.motor.config.pre_calibrated = True
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# BREAK HERE
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odrv0.save_configuration()
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odrv0.reboot()
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# Encoder
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odrv0.axis0.encoder.config.calib_range = 0.05
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odrv0.axis0.requested_state = AXIS_STATE_ENCODER_OFFSET_CALIBRATION
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odrv0.axis1.encoder.config.calib_range = 0.05
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odrv0.axis1.requested_state = AXIS_STATE_ENCODER_OFFSET_CALIBRATION
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# Movement
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odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
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odrv0.axis1.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
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odrv0.axis0.controller.input_vel = 0.5
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odrv0.axis1.controller.input_vel = 0.5
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# Your motor should spin here
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odrv0.axis0.controller.input_vel = 0
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odrv0.axis1.controller.input_vel = 0
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odrv0.axis0.requested_state = AXIS_STATE_IDLE
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odrv0.axis1.requested_state = AXIS_STATE_IDLE
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"""
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if __name__ == "__main__":
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cli()
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@ -1,3 +1,3 @@
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click==7.1.1
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odrive
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odrive==0.5.2.post0
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pyyaml
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