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Max 2020-11-03 12:58:20 +00:00
parent 464dad06d1
commit bcc2fb8c9e
1 changed files with 28 additions and 6 deletions
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34
odrive_controller.py
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@ -3,13 +3,15 @@ import signal
import logging import logging
from odrive.enums import (AXIS_STATE_IDLE, from odrive.enums import (AXIS_STATE_IDLE,
AXIS_STATE_FULL_CALIBRATION_SEQUENCE, AXIS_STATE_FULL_CALIBRATION_SEQUENCE,
AXIS_STATE_CLOSED_LOOP_CONTROL) AXIS_STATE_CLOSED_LOOP_CONTROL,
INPUT_MODE_POS_FILTER)
odrive_params = { odrive_params = {
'current_lim': 10, # A 'current_lim': 10, # A
'vel_lim': 60000, # Rev/s 'vel_lim': 60000, # Rev/s
'accel_lim': 1000000/1.2, 'accel_lim': 1000000/1.2,
'decel_lim': 1000000/1.2, 'decel_lim': 1000000/1.2,
'pos_filter': 2, # For smooth position control
'encoder_cpr': 4000, # Counts per revolution 'encoder_cpr': 4000, # Counts per revolution
'desired_velocity': 10000, # Rev/s 'desired_velocity': 10000, # Rev/s
'brake_resistance': 50 # Ohms 'brake_resistance': 50 # Ohms
@ -59,6 +61,7 @@ class Motors:
axis.trap_traj.config.vel_limit = self.params.get('vel_lim', 1) axis.trap_traj.config.vel_limit = self.params.get('vel_lim', 1)
axis.trap_traj.config.accel_limit = self.params.get('accel_lim', 1) axis.trap_traj.config.accel_limit = self.params.get('accel_lim', 1)
axis.trap_traj.config.decel_limit = self.params.get('decel_lim', 1) axis.trap_traj.config.decel_limit = self.params.get('decel_lim', 1)
axis.controller.config.input_filter_bandwidth = self.params.get('pos_filter', 2)
def run_calibration(self): def run_calibration(self):
self.drive.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE self.drive.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE
@ -68,6 +71,13 @@ class Motors:
pass pass
self.drive.save_configuration() self.drive.save_configuration()
def enable_watchdog(self):
self.drive.axis0.config.watchdog_timeout = 1 # second
self.drive.axis1.config.watchdog_timeout = 1 # second
# Don't forget to push the axis.watchdog_feed() at n second intervals
self.drive.axis0.config.enable_watchdog = True
self.drive.axis1.config.enable_watchdog = True
def set_idle(self): def set_idle(self):
self.drive.axis0.requested_state = AXIS_STATE_IDLE self.drive.axis0.requested_state = AXIS_STATE_IDLE
self.drive.axis1.requested_state = AXIS_STATE_IDLE self.drive.axis1.requested_state = AXIS_STATE_IDLE
@ -76,12 +86,16 @@ class Motors:
self.drive.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL self.drive.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
self.drive.axis1.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL self.drive.axis1.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
def set_filtered_pos_ctrl(self):
self.drive.axis0.controller.config.input_mode = INPUT_MODE_POS_FILTER
self.drive.axis1.controller.config.input_mode = INPUT_MODE_POS_FILTER
def index_calibration(self): def index_calibration(self):
pass pass
# TODO: here it will look for the endstop and set encoder counts to zero # TODO: here it will look for the endstop and zero the encoder counts
# Freeze one motor #  Freeze one motor
# Move other motor slowly until endstop activated # Move other motor slowly until endstop activated
# https://docs.odriverobotics.com/api/odrive.endstop.config # https://docs.odriverobotics.com/api/odrive.endstop.config
def cartesian_to_angle(self, position: dict): def cartesian_to_angle(self, position: dict):
''' '''
@ -92,4 +106,12 @@ class Motors:
''' '''
target_x = position['x'] target_x = position['x']
target_y = position['y'] target_y = position['y']
pass # TODO: this
print(target_x, target_y)
def move_to_angle(self, axis: object, position: int):
'''
This is for position ctrl, not trajectory!!!
'''
axis.controller.move_to_pos(position)
# PID control: https://docs.odriverobotics.com/control.html