Hi. I’m wondering if I have an issue in my configuration scripts because I’m seeing the flag odrv0.misconfigured is true.
If I set
odrv0.config.gpio9_mode = GPIO_MODE_DIGITAL
odrv0.config.gpio10_mode = GPIO_MODE_DIGITAL
odrv0.config.gpio11_mode = GPIO_MODE_DIGITAL
and
axis.encoder.config.use_index = False
…then the flag is false but my encoder doesn’t work - shadow_count always zero, and ERROR_NO_RESPONSE during calibration. (Same with pull_up and pull_down.)
The following two scripts give me more or less the behaviour I’m after, except the flag is true. Do I worry about it or am I safe?
This bench has an AMT 102-V on an Aerodrive 1250 kv on M0, nothing on M1, and it’s a 24V v3.6 with 0.5.3, and I’m using Canbus.
Thanks!
Step 1: configure.py
import odrive
from odrive.enums import *
# ODrive 0.5.3
odrv0 = odrive.find_any()
odrv0.clear_errors()
odrv0.config.enable_can_a = True
odrv0.config.brake_resistance = 0.47
odrv0.config.enable_brake_resistor = True
odrv0.can.config.baud_rate = 500000
odrv0.axis0.config.can.node_id = 0
odrv0.axis1.config.can.node_id = 1
odrv0.config.gpio9_mode = GPIO_MODE_ENC0
odrv0.config.gpio10_mode = GPIO_MODE_ENC0
odrv0.config.gpio11_mode = GPIO_MODE_ENC0
odrv0.axis0.config.startup_motor_calibration = False
odrv0.axis0.config.startup_encoder_index_search = True
odrv0.axis0.config.startup_encoder_offset_calibration = False
odrv0.axis0.config.startup_closed_loop_control = False
odrv0.axis1.config.startup_motor_calibration = False
odrv0.axis1.config.startup_encoder_index_search = False
odrv0.axis1.config.startup_encoder_offset_calibration = False
odrv0.axis1.config.startup_closed_loop_control = False
for axis in [odrv0.axis0, odrv0.axis1]:
axis.config.can.is_extended = False
axis.config.can.heartbeat_rate_ms = 200
axis.motor.config.pole_pairs = 7
axis.motor.config.calibration_current = 10
axis.motor.config.resistance_calib_max_voltage = 1 # < 0.5 * vbus_voltage and > calibration_current * phase_resistance
axis.motor.config.torque_constant = 8.27 / 1250
axis.motor.config.motor_type = MOTOR_TYPE_HIGH_CURRENT
axis.motor.config.current_lim = 40
axis.motor.config.current_lim_margin = 8
axis.motor.config.current_control_bandwidth = 1000
# axis.motor.config.requested_current_range = 60
axis.encoder.config.mode = ENCODER_MODE_INCREMENTAL
axis.encoder.config.use_index = True
axis.encoder.config.cpr = 8192
axis.encoder.config.calib_range = 0.05
axis.encoder.config.pre_calibrated = True
axis.encoder.config.bandwidth = 1000
axis.encoder.config.calib_scan_distance = 60
axis.controller.config.anticogging.anticogging_enabled = False
axis.controller.config.enable_vel_limit = True
axis.controller.config.enable_gain_scheduling = False
axis.controller.config.enable_overspeed_error = True
axis.controller.config.control_mode = CONTROL_MODE_VELOCITY_CONTROL
axis.controller.config.input_mode = INPUT_MODE_PASSTHROUGH
axis.controller.config.pos_gain = 20
axis.controller.config.vel_gain = 0.1
axis.controller.config.vel_integrator_gain = 0.16
axis.controller.config.vel_limit = 10
odrv0.save_configuration()
Step 2: calibrate.py
import odrive
from odrive.enums import *
import time
# ODrive 0.5.3
odrv0 = odrive.find_any()
odrv0.clear_errors()
# for axis in [odrv0.axis0, odrv0.axis1]:
for axis in [odrv0.axis0]:
print("Starting motor calibration...")
axis.requested_state = AXIS_STATE_MOTOR_CALIBRATION
while axis.current_state != AXIS_STATE_IDLE:
time.sleep(0.5)
if axis.motor.is_calibrated:
axis.motor.config.pre_calibrated = True
print("...done!\n Phase inductance: {}".format(axis.motor.config.phase_inductance))
print(" Phase resistance: {}".format(axis.motor.config.phase_resistance))
else:
print("Motor calibration failed")
print("Starting encoder calibration...")
axis.requested_state = AXIS_STATE_ENCODER_INDEX_SEARCH
while axis.current_state != AXIS_STATE_IDLE:
time.sleep(0.1)
axis.requested_state = AXIS_STATE_ENCODER_OFFSET_CALIBRATION
while axis.current_state != AXIS_STATE_IDLE:
time.sleep(0.1)
if axis.encoder.is_ready:
axis.encoder.config.pre_calibrated = True
if axis.encoder.config.pre_calibrated:
print("...done!\n Encoder offset : {}".format(axis.encoder.config.phase_offset_float))
print(" Encoder direction : {}".format(axis.encoder.config.direction))
odrv0.save_configuration()
else:
print("Encoder pre-calibration rejected by ODrive")
else:
print("Encoder calibration failed")