I need to make a system that gets the input from RC PWM (actually an Arduino and Servo library) and then control the motor in position control but incrementally.
The only documentation I found about PWM control is the following three lines:
odrv1.config.gpio4_pwm_mapping.min = -10 odrv1.config.gpio4_pwm_mapping.max = 10 odrv1.config.gpio4_pwm_mapping.endpoint = odrv1.axis0.controller._remote_attributes['input_pos']
This works well for position control, velocity control as well as torque control. I’m sure it would work for incremental position control also but I can’t figure out the python command, mostly because of the lack of documentation (and my python skill).
The command for incremental move is
where the float is the move amount.
How do I join these two together?
If I did
it did not work (TypeError: float() argument must be a string or a number).
I think “odrv1.config.gpio4_pwm_mapping.endpoint” is not a variable at all, but what is it and how do I use it??