For my capstone project at Northeastern University my team is working on a telepresence robotic system that utilises an exoskeleton strapped to a real person’s arm and a robotic arm that mirrors the user’s movements and provides haptic feedback. We want to use ODrive motor controllers because we like the open source nature and their reputation as a good option for hobby projects similar to ours.
However, we have to make our own custom PCB with a smaller footprint than the standard ODrive board because it’s imperative for our project that we can place it on the arm/exoskeleton as close to the encoders as possible to minimize noise on the SPI lines.
We still plan to use ODdrive firmware, and our PCB will be based on the ODrive hardware using the schematics that are publicly available. The official hardware schematics have not been released for the latest version (v3.6) and we are not sure if the older versions we would use as reference (3.4 or 3.5) support all of the functionalities that the latest firmware version offers (v0.5.1). In particular, we need support for absolute encoders over SPI to use with out AS5047P encoders. Do hardware versions 3.4 or 3.5 support this feature? If not, is there a way to modify them to support it?