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Max 2021-05-25 22:04:09 +01:00
parent cdb8f40109
commit 2495be7778
3 changed files with 35 additions and 6 deletions
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Shield dimentions.sketch
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14
pygame_control.py
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@ -13,8 +13,8 @@ class Odrive:
def set_zero(self): def set_zero(self):
self.drive.axis0.encoder.set_linear_count(0) self.drive.axis0.encoder.set_linear_count(0)
self.drive.axis1.encoder.set_linear_count(0) self.drive.axis1.encoder.set_linear_count(0)
self.drive.axis0.controller.config.input_mode = 3 self.drive.axis0.controller.config.input_mode = 1
self.drive.axis1.controller.config.input_mode = 3 self.drive.axis1.controller.config.input_mode = 1
# self.drive.axis0.trap_traj.config.vel_limit = 100 # self.drive.axis0.trap_traj.config.vel_limit = 100
# self.drive.axis1.trap_traj.config.vel_limit = 100 # self.drive.axis1.trap_traj.config.vel_limit = 100
# self.drive.axis0.trap_traj.config.accel_limit = 50 # self.drive.axis0.trap_traj.config.accel_limit = 50
@ -25,8 +25,8 @@ class Odrive:
# self.drive.axis1.controller.config.inertia = 0.02 # self.drive.axis1.controller.config.inertia = 0.02
self.drive.axis0.controller.config.input_filter_bandwidth = 30 self.drive.axis0.controller.config.input_filter_bandwidth = 30
self.drive.axis1.controller.config.input_filter_bandwidth = 30 self.drive.axis1.controller.config.input_filter_bandwidth = 30
self.drive.axis0.motor.config.current_lim = 70 self.drive.axis0.motor.config.current_lim = 65
self.drive.axis1.motor.config.current_lim = 70 self.drive.axis1.motor.config.current_lim = 65
self.drive.axis0.motor.config.current_lim_margin = 30 self.drive.axis0.motor.config.current_lim_margin = 30
self.drive.axis1.motor.config.current_lim_margin = 30 self.drive.axis1.motor.config.current_lim_margin = 30
@ -68,7 +68,9 @@ 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 = 1.05
self.x_multiplier = 1.95
self.x_offset = 980
# self.y_multiplier = 0.7 # self.y_multiplier = 0.7
def calculate_angles(self, large_x, large_y): def calculate_angles(self, large_x, large_y):
@ -123,7 +125,7 @@ class Controller:
pygame.display.update() pygame.display.update()
if self.armed: if self.armed:
self.a0, self.a1 = self.calculate_angles(mouse_y*self.y_multiplier, 990 - mouse_x*2) self.a0, self.a1 = self.calculate_angles(self.x_offset - mouse_x * self.x_multiplier, mouse_y*self.y_multiplier)
self.drive.goto(self.a0, self.a1) self.drive.goto(self.a0, self.a1)
self.drive.set_idle() self.drive.set_idle()

27
stress_test.py Normal file
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@ -0,0 +1,27 @@
import pygame
import odrive
from odrive.enums import *
import time
from pygame_control import Odrive
points = [[1.147, 2.023], [1.397, 3.556], [-0.121, 3.214], [-0.642, 1.584]]
class StressTest:
def __init__(self) -> None:
self.drive = Odrive()
self.drive.drive.axis0.controller.config.vel_limit = 30
self.drive.drive.axis1.controller.config.vel_limit = 30
self.drive.set_zero()
self.drive.set_idle()
def start(self):
self.drive.set_closed_loop()
while True:
print(f"FET0: {self.drive.drive.axis0.fet_thermistor.temperature}")
print(f"FET1: {self.drive.drive.axis1.fet_thermistor.temperature}")
for p in points:
self.drive.goto(p[0], p[1])
time.sleep(0.3)
a = StressTest()
a.start()