Hello
Is it possible to use Odrive on steady win mini cheetah motors or on my actuator motors. ive experimented with cube mars and steady win motors/actuators but the cube mars barely worked and the steadywin never did so I want to replace the board with something more reliable. Ive been using arduino with a can bus shield
thanks Matt
Hi there! You can absolutely use ODrive on those actuators, it’ll just require a machined or 3D printed mount for the ODrive so the magnetic angle sensor is aligned above the encoder magnet in the motor (assuming you’re using ODrive Pro / S1 / Micro). Alternatively, you can use the ODrive OA1 as a magnetic encoder, then have your ODrive Pro/S1 mounted elsewhere.
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This sounds like an excellent solution!
Is there any tutorials available on how to fit the encoder and how to get the O drive to work with an arduino and CAN Bus shield?
Also do you need the odrive pro or does the s1 suffice?
I’d love to get a pro but i’ll end up buying 8 so the price starts to come into the decision then!
Thank you for the help!
Hi!
Usually the actuators will have a built-in magnet, you just need to position the ODrive so that the onboard magnetic angle sensor (dead center in the middle of the board, pic below) is 0.5-1mm above the actuator’s magnet. Note that it should be pretty precise – any offset will add error and hurt performance, though some careful 3D printing is usually fine. Ditto if you choose to use the OA1 - more info here ODrive OA1 Datasheet — ODrive Documentation 0.6.9 documentation
Arduino CAN guide here: Controlling ODrive from an Arduino via CAN — ODrive Documentation 0.6.9 documentation
S1 is great, and probably what I’d recommend anyways! For your purposes, the difference is that it’s just a bit lower voltage/current (50.5V/40A vs 58V/80A).
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