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Max 2020-11-05 17:15:45 +00:00
parent a35c0ceb22
commit c65b1e9a78
1 changed files with 8 additions and 8 deletions
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16
odrive_controller.py
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@ -7,7 +7,7 @@ from odrive.enums import (AXIS_STATE_IDLE,
INPUT_MODE_POS_FILTER) INPUT_MODE_POS_FILTER)
odrive_params = { odrive_params = {
'current_lim': 10, # A 'current_lim': 50, # 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,
@ -31,21 +31,21 @@ class Motors:
self.params = params self.params = params
if odrive_sn: if odrive_sn:
try: try:
self.odrive = odrive.find_any(serial_number=odrive_sn) self.drive = odrive.find_any(serial_number=odrive_sn)
except Exception as err: except Exception as err:
logging.error(f"Encountered error: {err}") logging.error(f"Encountered error: {err}")
else: else:
self.odrive = odrive.find_any() self.drive = odrive.find_any()
self.enable_estop() self.enable_estop()
self.set_parameters() self.set_parameters()
logging.info(f"Odrive ready, voltage: {self.drive.vbus_voltage}V") logging.info(f"Odrive ready, voltage: {self.drive.vbus_voltage}V")
def digital_estop(self): def digital_estop(self, *_):
axis0 = self.odrive.axis0 axis0 = self.drive.axis0
axis1 = self.odrive.axis1 axis1 = self.drive.axis1
axis0.requested_state = AXIS_STATE_IDLE axis0.requested_state = AXIS_STATE_IDLE
axis1.requested_state = AXIS_STATE_IDLE axis1.requested_state = AXIS_STATE_IDLE
logging.warn('Estop triggered, motors set to Idle') logging.warning('Estop triggered, motors set to Idle')
def enable_estop(self): def enable_estop(self):
signal.signal(signal.SIGINT, self.digital_estop) signal.signal(signal.SIGINT, self.digital_estop)
@ -61,7 +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) # 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