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Max 2021-04-23 20:06:49 +01:00
parent 20cfd7e60c
commit 1505a4a24b
2 changed files with 38 additions and 3 deletions
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35
odrive_setup.py
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@ -48,7 +48,7 @@ logging.warning(f"Axis 1 encoder bandwidth: {odrv0.axis1.encoder.bandwidth}")
def controller_setup(odrv0: object, pos_gain: int = 1, vel_limit: int = 0.5): # Low vel limit (1 turn every 2s to avoid crsahing lol) def controller_setup(odrv0: object, pos_gain: int = 1, vel_limit: int = 0.5): # Low vel limit (1 turn every 2s to avoid crsahing lol)
# https://docs.oodrv0robotics.com/control # https://docs.oodrv0robotics.com/control
odrv0.axis0.controller.config.pos_gain = pos_gain odrv0.axis0.controller.config.pos_gain = pos_gain # 20
odrv0.axis1.controller.config.pos_gain = pos_gain odrv0.axis1.controller.config.pos_gain = pos_gain
logging.warning(f'Set positional gain to {pos_gain}') logging.warning(f'Set positional gain to {pos_gain}')
### NOTE: The VEL gain determines how fast the motor will move from point A to point B, may need to up/ tweak the value ### NOTE: The VEL gain determines how fast the motor will move from point A to point B, may need to up/ tweak the value
@ -182,3 +182,36 @@ odrv0.axis1.controller.input_pos = 0
odrv0.axis0.encoder.set_linear_count(0) odrv0.axis0.encoder.set_linear_count(0)
odrv0.axis1.encoder.set_linear_count(0) odrv0.axis1.encoder.set_linear_count(0)
# defaults:
# gain_scheduling_width = 10.0 (float)
# enable_vel_limit = True (bool)
# enable_current_mode_vel_limit = True (bool)
# enable_gain_scheduling = False (bool)
# enable_overspeed_error = True (bool)
# control_mode = 3 (int)
# input_mode = 1 (int)
# pos_gain = 50.0 (float)
# vel_gain = 0.1666666716337204 (float)
# vel_integrator_gain = 0.3333333432674408 (float)
# vel_limit = 100.0 (float)
# vel_limit_tolerance = 2.0 (float)
# vel_ramp_rate = 1.0 (float)
# torque_ramp_rate = 0.009999999776482582 (float)
# circular_setpoints = False (bool)
# circular_setpoint_range = 1.0 (float)
# homing_speed = 0.25 (float)
# inertia = 0.0 (float)
# axis_to_mirror = 255 (int)
# mirror_ratio = 1.0 (float)
# load_encoder_axis = 0 (int)
# input_filter_bandwidth = 2.0 (float)
# anticogging:
# index = 0 (int)
# pre_calibrated = False (bool)
# calib_anticogging = False (bool)
# calib_pos_threshold = 1.0 (float)
# calib_vel_threshold = 1.0 (float)
# cogging_ratio = 1.0 (float)
# anticogging_enabled = True (bool)

6
pygame_control.py
View File

@ -51,6 +51,8 @@ class Controller:
self.a0_t = 0 self.a0_t = 0
self.a1_t = 0 self.a1_t = 0
self.v_max = self.drive.get_max_speed() self.v_max = self.drive.get_max_speed()
self.y_multiplier = 1.1
# self.y_multiplier = 0.7
def calculate_angles(self, large_x, large_y): def calculate_angles(self, large_x, large_y):
x = large_x / 10.0 x = large_x / 10.0
@ -92,7 +94,7 @@ class Controller:
idkwhatthisis = self.font.render(f"X: {mouse_x} | Y: {500 - mouse_y}", True, (255, 255, 255)) idkwhatthisis = self.font.render(f"X: {mouse_x} | Y: {500 - mouse_y}", True, (255, 255, 255))
idkwhatthisis_3 = self.font.render(f"X: {mouse_x/100} | Y: {(500 - mouse_y)/100}", True, (255, 255, 255)) idkwhatthisis_3 = self.font.render(f"X: {mouse_x/100} | Y: {(500 - mouse_y)/100}", True, (255, 255, 255))
idkwhatthisis_4 = self.font.render(f"M0: {self.a0:.3f} | M1: {self.a1:.3f}", True, (255, 255, 255)) idkwhatthisis_4 = self.font.render(f"M0: {self.a0:.3f} | M1: {self.a1:.3f}", True, (255, 255, 255))
self.a0_t, self.a1_t = self.calculate_angles(mouse_y*1.1, 990 - mouse_x) self.a0_t, self.a1_t = self.calculate_angles(mouse_y*self.y_multiplier, 990 - mouse_x*2)
idkwhatthisis_5 = self.font.render(f"M0: {self.a0_t:.3f} | M1: {self.a1_t:.3f}", True, (0, 255, 255)) idkwhatthisis_5 = self.font.render(f"M0: {self.a0_t:.3f} | M1: {self.a1_t:.3f}", True, (0, 255, 255))
idkwhatthisis_6 = self.font.render(f"VMAX: {self.v_max}", True, (255, 100, 0)) idkwhatthisis_6 = self.font.render(f"VMAX: {self.v_max}", True, (255, 100, 0))
self.window.blit(idkwhatthisis, (0, 0)) self.window.blit(idkwhatthisis, (0, 0))
@ -104,7 +106,7 @@ class Controller:
pygame.display.update() pygame.display.update()
if self.armed: if self.armed:
self.a0, self.a1 = self.calculate_angles(mouse_y*1.1, 990 - mouse_x*2) self.a0, self.a1 = self.calculate_angles(mouse_y*self.y_multiplier, 990 - mouse_x*2)
self.drive.goto(self.a0, self.a1) self.drive.goto(self.a0, self.a1)
self.drive.set_idle() self.drive.set_idle()