Hi,
I have a ODrive v3.6 controller, AM102 encoder, and D5065 motor running with the Arduino Test code posted on github. The motor currently runs the calibration phase but cuts off after a second when executing the test phase and goes out of closed loop. I tried messing with the current and velocity limits but it would still cut-off. I don’t think the power supply isn’t the one malfunctioning since there is a green LED indicator on it whenever the circuit is overloaded and it hasn’t indicated that when executing the code.
Everything is set up correctly and I am still having a hard time figuring this out.
Any help would be appreciated.
Here’s the current code:
#include <SoftwareSerial.h>
#include <ODriveArduino.h>
// Printing with stream operator
template inline Print& operator <<(Print &obj, T arg) { obj.print(arg); return obj; }
template<> inline Print& operator <<(Print &obj, float arg) { obj.print(arg, 4); return obj; }
// Serial to the ODrive
SoftwareSerial odrive_serial(8, 9); //RX (ODrive TX), TX (ODrive RX)
// ODrive object
ODriveArduino odrive(odrive_serial);
void setup() {
// ODrive uses 115200 baud
odrive_serial.begin(115200);
// Serial to PC
Serial.begin(115200);
while (!Serial) ; // wait for Arduino Serial Monitor to open
Serial.println(“ODriveArduino”);
Serial.println(“Setting parameters…”);
// In this example we set the same parameters to both motors.
// You can of course set them different if you want.
// See the documentation or play around in odrivetool to see the available parameters
for (int axis = 0; axis < 2; ++axis) {
odrive_serial << “w axis” << axis << ".controller.config.vel_limit " << 22000.0f << ‘\n’;
odrive_serial << “w axis” << axis << ".motor.config.current_lim " << 10.0f << ‘\n’;
// This ends up writing something like “w axis0.motor.config.current_lim 10.0\n”
}
Serial.println(“Ready!”);
Serial.println(“Send the character ‘0’ or ‘1’ to calibrate respective motor (you must do this before you can command movement)”);
Serial.println(“Send the character ‘s’ to exectue test move”);
Serial.println(“Send the character ‘b’ to read bus voltage”);
Serial.println(“Send the character ‘p’ to read motor positions in a 10s loop”);
}
void loop() {
if (Serial.available()) {
char c = Serial.read();
// Run calibration sequence
if (c == '0' || c == '1') {
int requested_state;
requested_state = AXIS_STATE_MOTOR_CALIBRATION;
Serial << "Axis" << c << ": Requesting state " << requested_state << '\n';
odrive.run_state(atoi(c), requested_state, true);
requested_state = AXIS_STATE_ENCODER_OFFSET_CALIBRATION;
Serial << "Axis" << c << ": Requesting state " << requested_state << '\n';
odrive.run_state(atoi(c), requested_state, true);
requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL;
Serial << "Axis" << c << ": Requesting state " << requested_state << '\n';
odrive.run_state(atoi(c), requested_state, false); // don't wait
}
// Sinusoidal test move
if (c == 's') {
Serial.println("Executing test move");
for (float ph = 0.0f; ph < 6.28318530718f; ph += 0.01f) {
float pos_m0 = 20000.0f * cos(ph);
odrive.SetPosition(0, pos_m0);
delay(5);
}
}
// Read bus voltage
if (c == 'b') {
odrive_serial << "r vbus_voltage\n";
Serial << "Vbus voltage: " << odrive.readFloat() << '\n';
}
// print motor positions in a 10s loop
if (c == 'p') {
static const unsigned long duration = 10000;
unsigned long start = millis();
while(millis() - start < duration) {
for (int motor = 0; motor < 2; ++motor) {
odrive_serial << "r axis" << motor << ".encoder.pos_estimate\n";
Serial << odrive.readFloat() << '\t';
}
Serial << '\n';
}
}
}
}