Hi,
I have been working with ODrive for quite some time now and have developed a few things for ODrive that might also be useful for others:
New Firmware for 3.5
- Based on 0.5.1
- Better oscilloscope functionality (data compression, multiple values, multiple axes, custom trigger, faster data retrieval)
- More data exposed to debug Encoder Index issues (to detect encoder noise/slippage)
- Optional error suppression with CUI encoders
- ODrivetool works with ODrive via UART and custom UART options
- Optional reading of incremental encoders via Fibre when ODrive uses SPI encoders
- Some minor UART communication bugfixes in Firmware
C++ Library to communicate with ODrive via USB/UART
- Can read and write any values
- Can call any function
- Works with any firmware because it automatically downloads the json interface
- Not tested with ODrive S1 and Pro yet, but should work theoretically via USB
- Quite robust error checking, works when there is data noise
- Very small, should be easy to include in other projects
Native application to visualize ODrive data
- Polls any data and displays it in a graphical user interface
- Plotting over long time periods. Plots are done with GitHub - epezent/implot: Immediate Mode Plotting
- Sets any ODrive values via UI
- Displays oscilloscope data
- Indirect communication with ODrive. One application polls the ODrive data and another connects via TCP and visualizes it. This way no direct USB/UART connection between ODrive and visualizer is required.
- Also plots other values retrieved by the polling application. Or computed ones. This is useful when you have other sensors or want to debug control algorithms.
- Plots are quite scalable: I monitor about 300 variables for my project and it’s still very fast and the UI is not overwhelming,
- Easy to add graphical visualizations of the joint states or video streams and keep it all synchronized.
- Also should work with ODrive S1 and Pro, but I havn’t tried it yet.
- No JS;)
Is anyone interested in this stuff? If so, I can make it Open Source.