Encoder data from Odrive

1

Hello everyone,

I am using AS5047D encoder with Odrive Pro, but I wanted to send the encoder data from Odrive to Teensy3.5 via UART. I’m using the command odrive.getEncoderPosition(ODRV_0), but the .getEncoderPosition isn’t working. Any idea on where am I going wrong?

Thank you!

2

Assuming the ODriveUART instance is named ODRV_0:

ODriveFeedback feedback = ODRV_0.getFeedback();
Serial.println(feedback.pos) # This will be the encoder position

May I ask where you saw the “getEncoderPosition” function? I want to make sure that we don’t have any out-of-date documentation anywhere.

3

Hi, Thank you for the prompt reply!
I didn’t see it in the official documentation. I read it somewhere in the posts or online platforms. I honestly don’t remember!

I do have another question, I am using two Odrives and I want to get the position and velocity feedback of two AS5047d encoders, each attached to one of the odrive. How can I get the feedback.pos or feedback.vel in that case.

Thank you so much for your help!

4

Assuming you have e.g. ODrive 0 on serial 2, and ODrive 1 on serial 3, and your baudrate is 115200:

// 
HardwareSerial& odrive0_serial = Serial2;
HardwareSerial& odrive1_serial = Serial3;

ODriveUART odrive0(odrive0_serial);
ODriveUART odrive1(odrive1_serial);

void setup() {
    odrive0_serial.begin(115200);
    odrive1_serial.begin(115200);

    ODriveFeedback odrive0_feedback = odrive0.getFeedback();
    ODriveFeedback odrive1_feedback = odrive1.getFeedback();
    // Then you'd just use e.g. odrv0_feedback.pos or .vel or odrv1_feedback.pos or .vel
5

Thank you so much. I’ll try this out.

Truly appreciate it! Thanks!

6

No worries, best of luck!

1 Like
7

Hi Solomondg,

I have a quick question, for sending current/torque values from teensy to odrive, what command should I use? can I use setTorque in that case?

Thank you!

8

Yep, setTorque’s the one!

9

Thank you so much. You’re awesome!

10

Glad I could help :slight_smile: