The Release Candidate for Firmware v0.5.1 is ready! You can find binaries here, and check the instructions “How to flash a custom firmware” here. You can also check out this release on GitHub. This thread is for feedback and discussion about the firmware.
Please let us know in the poll below even if everything works.
This firmware has breaking changes to the input interface and certain config values.
input_vel are now in units of
turns/s instead of
input_current is now
input_torque with units of
motor.config.torque_lim have been added.
axis.config.counts_per_step is now
These changes allow for the controller gains to be encoder-agnostic, as well as making the controller units easier to interpret in general.
torque_lim is disabled (set to infinite) by default. The motor still has a current limit which will still in effect limit the torque.
We added a new way to define the ODrive parameter interface that makes the initial connection to odrivetool much faster. Motor thermistor support has also been added. A complete list of changes is in the changelog.
Previously saved values, like the controller gains, need to be converted into the new units.
torque_constant is approximately equal to 8.27 / (motor KV)
pos_gain remains the same
Other parameters are converted in a similar way.
- Calibrate motor works
- Closed loop control works
- CAN works
- Incremental encoder works
- Absolute encoder works
- Step/dir input works
- RC PWM input works
- USB and Python works
- USB and ASCII protocol works
- UART and ASCII protocol works
If you have any issues, please report it below.