max/masters-project
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Update

Browse Source
This commit is contained in:
Max 2021-04-22 15:15:07 +01:00
parent c65b1e9a78
commit 2b400958df
2 changed files with 238 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

181
odrive_setup.py Normal file
View File

@ -0,0 +1,181 @@
import sys
import time
import odrive
from odrive.enums import *
from fibre.protocol import ChannelBrokenException
import logging
logging.basicConfig(level='DEBUG')
odrv = odrive.find_any()
def erase_previous_config(odrv0: object):
odrv0.erase_configuration()
logging.warning('Oodrv0 config erased')
def set_pole_pairs(odrv0: object, pole_pairs: int):
# pole pairs = number of magnets in motor / 2
print(odrv0.axis0.motor.config.pole_pairs)
print(odrv0.axis1.motor.config.pole_pairs)
logging.warning(f'Both channels set to {pole_pairs} pole pairs')
def unknowns(odrv0):
logging.warning(f"Axis 0 resistance calib max voltage: {odrv0.axis0.motor.config.resistance_calib_max_voltage}")
logging.warning(f"Axis 0 requested current range: {odrv0.axis0.motor.config.requested_current_range}")
logging.warning(f"Axis 0 current control bandwidth: {odrv0.axis0.motor.config.current_control_bandwidth}")
logging.warning(f"Axis 0 torque constant: {odrv0.axis0.motor.config.torque_constant}")
logging.warning(f"Axis 1 resistance calib max voltage: {odrv0.axis1.motor.config.resistance_calib_max_voltage}")
logging.warning(f"Axis 1 requested current range: {odrv0.axis1.motor.config.requested_current_range}")
logging.warning(f"Axis 1 current control bandwidth: {odrv0.axis1.motor.config.current_control_bandwidth}")
logging.warning(f"Axis 1 torque constant: {odrv0.axis1.motor.config.torque_constant}")
def encoder_setup(odrv0: object, cpr: int):
odrv0.axis0.encoder.config.mode = 0 # ENCODER_MODE_HALL This one doesn't work...
odrv0.axis1.encoder.config.mode = 0 # ENCODER_MODE_HALL This one doesn't work...
logging.warning('Set encoders to INCREMENTAL')
odrv0.axis0.encoder.config.cpr = 4000
odrv0.axis1.encoder.config.cpr = 4000
odrv0.axis0.encoder.config.use_index = True
odrv0.axis1.encoder.config.use_index = True
odrv0.axis0.encoder.config.ignore_illegal_hall_state = True
odrv0.axis1.encoder.config.ignore_illegal_hall_state = True
logging.warning(f'Set encoders to {cpr} cpr')
logging.warning(f"Axis 0 encoder calib scan distance: {odrv0.axis0.encoder.calib_scan_distance}")
logging.warning(f"Axis 1 encoder calib scan distance: {odrv0.axis1.encoder.calib_scan_distance}")
logging.warning(f"Axis 0 encoder bandwidth: {odrv0.axis0.encoder.bandwidth}")
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)
# https://docs.oodrv0robotics.com/control
odrv0.axis0.controller.config.pos_gain = pos_gain
odrv0.axis1.controller.config.pos_gain = 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
odrv0.axis0.controller.config.vel_gain = 0.02 * odrv0.axis0.motor.config.torque_constant * odrv0.axis0.encoder.config.cpr
odrv0.axis1.controller.config.vel_gain = 0.02 * odrv0.axis1.motor.config.torque_constant * odrv0.axis1.encoder.config.cpr
logging.warning(f'Set velocity gain to 0.02*torque_constant*cpr')
odrv0.axis0.controller.config.vel_integrator_gain = 0.1 * odrv0.axis0.motor.config.torque_constant * odrv0.axis0.encoder.config.cpr
odrv0.axis1.controller.config.vel_integrator_gain = 0.1 * odrv0.axis1.motor.config.torque_constant * odrv0.axis1.encoder.config.cpr
logging.warning(f'Set velocity integrator gain to 0.1*torque_constant*cpr')
odrv0.axis0.controller.config.vel_limit = 10
odrv0.axis1.controller.config.vel_limit = 10
logging.warning(f'Set velocity limit to {vel_limit}')
def set_position_control_mode(odrv0: object):
odrv0.axis0.controller.config.control_mode = CONTROL_MODE_POSITION_CONTROL
odrv0.axis1.controller.config.control_mode = CONTROL_MODE_POSITION_CONTROL
logging.warning(f'Set control_mode to CONTROL_MODE_POSITION_CONTROL')
odrv0.save_configuration()
logging.warning(f'Saved new config')
odrv0.reboot()
logging.warning(f'Rebooting odrv0')
time.sleep(1)
### NOTE: free motor os any load etc.
def auto_oodrv0_calibration_sequence(odrv0: object):
odrv0.axis0.requested_state = AXIS_STATE_MOTOR_CALIBRATION
odrv0.axis1.requested_state = AXIS_STATE_MOTOR_CALIBRATION
logging.warning(f'Set state to AXIS_STATE_MOTOR_CALIBRATION, sleeping for 5 s.')
time.sleep(10)
if odrv0.axis0.motor.error != 0:
logging.error(f"Error: Oodrv0 reported an error of {odrv0.axis0.motor.error} while in the state "
"AXIS_STATE_MOTOR_CALIBRATION. Printing out Oodrv0 motor data for "
f"debug:\n {odrv0.axis0.motor}")
if odrv0.axis1.motor.error != 0:
logging.error(f"Error: Oodrv0 reported an error of {odrv0.axis1.motor.error} while in the state "
"AXIS_STATE_MOTOR_CALIBRATION. Printing out Oodrv0 motor data for "
f"debug:\n {odrv0.axis1.motor}")
logging.critical(f"Axis 0 phase inductence is: {odrv0.axis0.motor.config.phase_inductance}, check that it is 0.001 -> 0.0001")
logging.critical(f"Axis 1 phase inductence is: {odrv0.axis1.motor.config.phase_inductance}, check that it is 0.001 -> 0.0001")
logging.critical(f"Axis 0 phase resistance is: {odrv0.axis0.motor.config.phase_resistance}, check that it is 0.1 -> 0.5")
logging.critical(f"Axis 1 phase resistance is: {odrv0.axis1.motor.config.phase_resistance}, check that it is 0.1 -> 0.5")
a = input('Ok to continue? [y/N]')
if not (a == 'y' or a == 'Y'):
logging.info('Exiting...')
sys.exit(0)
odrv0.axis0.motor.config.pre_calibrated = True
odrv0.axis1.motor.config.pre_calibrated = True
logging.warning(f'Setting motors to pre calibrated')
time.sleep(5)
logging.info("Starting encoder calibration, wait 30s.")
odrv0.axis0.requested_state = AXIS_STATE_ENCODER_OFFSET_CALIBRATION
odrv0.axis1.requested_state = AXIS_STATE_ENCODER_OFFSET_CALIBRATION
time.sleep(30)
if odrv0.axis0.encoder.error != 0:
logging.error(f"Error: Oodrv0 reported an error of {odrv0.axis0.encoder.error} while in the state "
"AXIS_STATE_MOTOR_CALIBRATION. Printing out Oodrv0 motor data for "
f"debug:\n {odrv0.axis0.encoder}")
if odrv0.axis1.encoder.error != 0:
logging.error(f"Error: Oodrv0 reported an error of {odrv0.axis1.encoder.error} while in the state "
"AXIS_STATE_MOTOR_CALIBRATION. Printing out Oodrv0 motor data for "
f"debug:\n {odrv0.axis1.encoder}")
logging.critical(f"Axis 0 encoder offset is: {odrv0.axis0.encoder.config.offset_float}, check that it is 0.5 or 1.5")
logging.critical(f"Axis 1 encoder offset is: {odrv0.axis1.encoder.config.offset_float}, check that it is 0.5 or 1.5")
a = input('Ok to continue? [y/N]')
if not (a == 'y' or a == 'Y'):
logging.info('Exiting...')
sys.exit(0)
odrv0.axis0.encoder.config.pre_calibrated = True
odrv0.axis1.encoder.config.pre_calibrated = True
logging.warning(f'Setting encoders to pre calibrated')
odrv0.save_configuration()
logging.warning(f'Saved new config')
odrv0.reboot()
logging.warning(f'Rebooting odrv0')
time.sleep(1)
def bootinit_index_search(odrv0):
odrv0.axis0.requested_state = AXIS_STATE_ENCODER_INDEX_SEARCH
odrv0.axis1.requested_state = AXIS_STATE_ENCODER_INDEX_SEARCH
def set_closed_loop_ctrl(odrv0: object):
odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
odrv0.axis1.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
def set_idle(odrv0: object):
odrv0.axis0.requested_state = AXIS_STATE_IDLE
odrv0.axis1.requested_state = AXIS_STATE_IDLE
def set_current_limit(odrv0: object):
odrv0.axis0.motor.config.current_lim = 15
odrv0.axis1.motor.config.current_lim = 15 # Amps, up this to 90 etc later...
def set_brake_resistance(odrv0):
pass
# odrv0.config.brake_resistance = ? // find out brake resistance
def goto_xy(x: float, y: float, odrv0: object):
pings_per_cm_0 = 10 # NOTE This is completely ARBITRARY!!! and needs to be calibrated
pings_per_cm_1 = 10 # NOTE This is completely ARBITRARY!!! and needs to be calibrated
pi = 3.142
pulley_diameter = 10 # cm
distance_per_revolution = pi * pulley_diameter
target_angle_0 = (y / distance_per_revolution) - (x / distance_per_revolution)
target_angle_1 = (y / distance_per_revolution) + (x / distance_per_revolution) # TODO: Derive this matrix
odrv0.axis0.controller.input_pos = target_angle_0 # NOTE TODO DOO NOT RUN THIS BEFORE VERIFYING ENCODER OFFSET STATUS
odrv0.axis1.controller.input_pos = target_angle_1
odrv0.axis0.controller.input_pos = 10
odrv0.axis1.controller.input_pos = 10
odrv0.axis0.controller.input_pos = 0
odrv0.axis1.controller.input_pos = 0

57
pygame_control.py Normal file
View File

@ -0,0 +1,57 @@
import pygame
pygame.init()
pygame.font.init()
font_name = pygame.font.get_default_font()
font = pygame.font.Font(font_name, 20)
window = pygame.display.set_mode((500, 500))
pygame.display.set_caption("RAH Visual Controller V0.1")
run = True
armed = False
prev_x = 0
prev_y = 0
def update_and_send_pos_to_odrive():
pass
while run:
pygame.time.delay(20)
for event in pygame.event.get():
if event.type == pygame.QUIT:
run = False
mouse_x, mouse_y = pygame.mouse.get_pos()
keys = pygame.key.get_pressed()
if keys[pygame.K_SPACE]:
armed = True
window.fill((64, 0, 0))
idkwhatthisis_2 = font.render(f"Armed: {armed}", True, (255, 0, 0))
prev_x = mouse_x
prev_y = mouse_y
# clear where the striker currently is
else:
armed = False
window.fill((10, 10, 10))
pygame.draw.circle(window, (255, 0, 0), (prev_x, prev_y), (20))
idkwhatthisis_2 = font.render(f"Armed: {armed}", True, (200, 200, 200))
# draw where the striker currently is
# window.fill((0, 0, 0))
pygame.draw.circle(window, (255, 0, 0), (mouse_x, mouse_y), (20))
pygame.draw.rect(window, (0, 255, 0), (mouse_x, 0, 1, 500))
pygame.draw.rect(window, (0, 128, 255), (0, mouse_y, 500, 1))
idkwhatthisis = font.render(f"X: {mouse_x} | Y: {mouse_y}", True, (255, 255, 255))
window.blit(idkwhatthisis, (0, 0))
window.blit(idkwhatthisis_2, (0, 480))
pygame.display.update()
if armed:
update_and_send_pos_to_odrive()
pygame.font.quit()
pygame.quit()