Nice to meet you, I am making an automatic guided vehicle using Odrive v3.6. There was a problem in that.
The torque when using the Hoverboard motor with Arudino is weak. The code is below.
#include <HardwareSerial.h>
#include <SoftwareSerial.h>
#include <ODriveArduino.h>
// Printing with stream operator helper functions
template<class T> 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;
}
// Below are some sample configurations.
// You can comment out the default Teensy one and uncomment the one you wish to use.
// You can of course use something different if you like
// Don't forget to also connect ODrive GND to Arduino GND.
// Teensy 3 and 4 (all versions) - Serial1
// pin 0: RX - connect to ODrive TX
// pin 1: TX - connect to ODrive RX
// See https://www.pjrc.com/teensy/td_uart.html for other options on Teensy
//HardwareSerial& odrive_serial = Serial1;
// Arduino Mega or Due - Serial1
// pin 19: RX - connect to ODrive TX
// pin 18: TX - connect to ODrive RX
// See https://www.arduino.cc/reference/en/language/functions/communication/serial/ for other options
HardwareSerial& odrive_serial = Serial1;
// Arduino without spare serial ports (such as Arduino UNO) have to use software serial.
// Note that this is implemented poorly and can lead to wrong data sent or read.
// pin 8: RX - connect to ODrive TX
// pin 9: TX - connect to ODrive RX
// SoftwareSerial odrive_serial(8, 9);
// 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 " << 10.0f << '\n';
odrive_serial << "w axis" << axis << ".motor.config.current_lim " << 11.0f << '\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 motornum = c - '0';
int requested_state;
requested_state = ODriveArduino::AXIS_STATE_MOTOR_CALIBRATION;
Serial << "Axis" << c << ": Requesting state " << requested_state << '\n';
if (!odrive.run_state(motornum, requested_state, true)) return;
requested_state = ODriveArduino::AXIS_STATE_ENCODER_OFFSET_CALIBRATION;
Serial << "Axis" << c << ": Requesting state " << requested_state << '\n';
if (!odrive.run_state(motornum, requested_state, true, 25.0f)) return;
requested_state = ODriveArduino::AXIS_STATE_CLOSED_LOOP_CONTROL;
Serial << "Axis" << c << ": Requesting state " << requested_state << '\n';
if (!odrive.run_state(motornum, requested_state, false /*don't wait*/)) return;
}
// 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 = 2.0f * cos(ph);
float pos_m1 = 2.0f * sin(ph);
odrive.SetPosition(0, pos_m0);
odrive.SetPosition(1, pos_m1);
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 == 'w') {
odrive.SetVelocity(0, 0.4f);
odrive.SetVelocity(1, -0.4f);
}
if (c == 'q') {
odrive.SetVelocity(0, 0);
odrive.SetVelocity(1, 0);
}
}
}
High torque is obtained by calibration when “0” is set.
I think that the torque is so weak that if you press “w” to test the rotation, it will stop if you press it with your hand.
odrive.SetVelocity (0, 0.4, 11.0f);
I also tried, but it doesn’t change, please help me.