273 lines
11 KiB
Python
273 lines
11 KiB
Python
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"""
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These configurations is based on Austin Owens implementation: https://github.com/AustinOwens/robodog/blob/main/odrive/configs/odrive_hoverboard_config.py
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It was based on the hoverboard tutorial found on the Odrive Robotics website at: https://docs.odriverobotics.com/v/0.5.4/hoverboard.html
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"""
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import sys
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import time
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import math
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import odrive
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from odrive.enums import *
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import fibre.libfibre
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from fibre import Logger, Event
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from odrive.utils import OperationAbortedException
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class MotorConfig:
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"""
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Class for configuring an Odrive axis for a Hoverboard motor.
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Only works with one Odrive at a time.
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"""
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# Hoverboard Kv
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HOVERBOARD_KV = 16.0
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# Min/Max phase inductance of motor
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MIN_PHASE_INDUCTANCE = 0
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MAX_PHASE_INDUCTANCE = 0.001
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# Min/Max phase resistance of motor
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MIN_PHASE_RESISTANCE = 0
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MAX_PHASE_RESISTANCE = 0.5
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# Tolerance for encoder offset float
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ENCODER_OFFSET_FLOAT_TOLERANCE = 0.05
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def __init__(self, axis_num):
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"""
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Initalizes MotorConfig class by finding odrive, erase its
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configuration, and grabbing specified axis object.
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:param axis_num: Which channel/motor on the odrive your referring to.
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:type axis_num: int (0 or 1)
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"""
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self.axis_num = axis_num
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# Connect to Odrive
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print("Looking for ODrive...")
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self._find_odrive()
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print("Found ODrive.")
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def _find_odrive(self):
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# connect to Odrive
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self.odrv = odrive.find_any()
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self.odrv_axis = getattr(self.odrv, "axis{}".format(self.axis_num))
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def configure(self):
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"""
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Configures the odrive device for a hoverboard motor.
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"""
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# Erase pre-exsisting configuration
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print("Erasing pre-exsisting configuration...")
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try:
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self.odrv.erase_configuration()
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except ChannelBrokenException:
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pass
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self._find_odrive()
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# Standard 6.5 inch hoverboard hub motors have 30 permanent magnet
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# poles, and thus 15 pole pairs
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self.odrv_axis.motor.config.pole_pairs = 15
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# Hoverboard hub motors are quite high resistance compared to the hobby
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# aircraft motors, so we want to use a bit higher voltage for the motor
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# calibration, and set up the current sense gain to be more sensitive.
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# The motors are also fairly high inductance, so we need to reduce the
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# bandwidth of the current controller from the default to keep it
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# stable.
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self.odrv_axis.motor.config.resistance_calib_max_voltage = 4
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self.odrv_axis.motor.config.requested_current_range = 25
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self.odrv_axis.motor.config.current_control_bandwidth = 100
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# Estimated KV but should be measured using the "drill test", which can
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# be found here: # https://discourse.odriverobotics.com/t/project-hoverarm/441
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self.odrv_axis.motor.config.torque_constant = 8.27 / self.HOVERBOARD_KV
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# Hoverboard motors contain hall effect sensors instead of incremental
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# encorders
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self.odrv_axis.encoder.config.mode = ENCODER_MODE_HALL
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# The hall feedback has 6 states for every pole pair in the motor. Since
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# we have 15 pole pairs, we set the cpr to 15*6 = 90.
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self.odrv_axis.encoder.config.cpr = 90
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# Since hall sensors are low resolution feedback, we also bump up the
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#offset calibration displacement to get better calibration accuracy.
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self.odrv_axis.encoder.config.calib_scan_distance = 150
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# Since the hall feedback only has 90 counts per revolution, we want to
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# reduce the velocity tracking bandwidth to get smoother velocity
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# estimates. We can also set these fairly modest gains that will be a
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# bit sloppy but shouldn’t shake your rig apart if it’s built poorly.
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# Make sure to tune the gains up when you have everything else working
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# to a stiffness that is applicable to your application.
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self.odrv_axis.encoder.config.bandwidth = 100
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self.odrv_axis.controller.config.pos_gain = 1
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self.odrv_axis.controller.config.vel_gain = 0.02 * self.odrv_axis.motor.config.torque_constant * self.odrv_axis.encoder.config.cpr
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self.odrv_axis.controller.config.vel_integrator_gain = 0.1 * self.odrv_axis.motor.config.torque_constant * self.odrv_axis.encoder.config.cpr
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self.odrv_axis.controller.config.vel_limit = 10
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# Set in position control mode so we can control the position of the wheel
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self.odrv_axis.controller.config.control_mode = CONTROL_MODE_POSITION_CONTROL
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# In the next step we are going to start powering the motor and so we
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# want to make sure that some of the above settings that require a
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# reboot are applied first.
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print("Saving manual configuration and rebooting...")
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self.odrv.save_configuration()
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print("Manual configuration saved.")
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try:
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self.odrv.reboot()
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except ChannelBrokenException:
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pass
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self._find_odrive()
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input("Make sure the motor is free to move, then press enter...")
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print("Calibrating Odrive for hoverboard motor (you should hear a " "beep)...")
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self.odrv_axis.requested_state = AXIS_STATE_MOTOR_CALIBRATION
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# Wait for calibration to take place
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time.sleep(10)
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if self.odrv_axis.motor.error != 0:
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print("Error: Odrive reported an error of {} while in the state "
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"AXIS_STATE_MOTOR_CALIBRATION. Printing out Odrive motor data for "
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"debug:\n{}".format(self.odrv_axis.motor.error,
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self.odrv_axis.motor))
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sys.exit(1)
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if self.odrv_axis.motor.config.phase_inductance <= self.MIN_PHASE_INDUCTANCE or \
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self.odrv_axis.motor.config.phase_inductance >= self.MAX_PHASE_INDUCTANCE:
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print("Error: After odrive motor calibration, the phase inductance "
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"is at {}, which is outside of the expected range. Either widen the "
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"boundaries of MIN_PHASE_INDUCTANCE and MAX_PHASE_INDUCTANCE (which "
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"is between {} and {} respectively) or debug/fix your setup. Printing "
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"out Odrive motor data for debug:\n{}".format(self.odrv_axis.motor.config.phase_inductance,
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self.MIN_PHASE_INDUCTANCE,
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self.MAX_PHASE_INDUCTANCE,
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self.odrv_axis.motor))
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sys.exit(1)
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if self.odrv_axis.motor.config.phase_resistance <= self.MIN_PHASE_RESISTANCE or \
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self.odrv_axis.motor.config.phase_resistance >= self.MAX_PHASE_RESISTANCE:
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print("Error: After odrive motor calibration, the phase resistance "
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"is at {}, which is outside of the expected range. Either raise the "
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"MAX_PHASE_RESISTANCE (which is between {} and {} respectively) or "
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"debug/fix your setup. Printing out Odrive motor data for "
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"debug:\n{}".format(self.odrv_axis.motor.config.phase_resistance,
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self.MIN_PHASE_RESISTANCE,
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self.MAX_PHASE_RESISTANCE,
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self.odrv_axis.motor))
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sys.exit(1)
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# If all looks good, then lets tell ODrive that saving this calibration
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# to persistent memory is OK
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self.odrv_axis.motor.config.pre_calibrated = True
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# Check the alignment between the motor and the hall sensor. Because of
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# this step you are allowed to plug the motor phases in random order and
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# also the hall signals can be random. Just don’t change it after
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# calibration.
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print("Calibrating Odrive for encoder...")
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self.odrv_axis.requested_state = AXIS_STATE_ENCODER_OFFSET_CALIBRATION
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# Wait for calibration to take place
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time.sleep(30)
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if self.odrv_axis.encoder.error != 0:
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print("Error: Odrive reported an error of {} while in the state "
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"AXIS_STATE_ENCODER_OFFSET_CALIBRATION. Printing out Odrive encoder "
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"data for debug:\n{}".format(self.odrv_axis.encoder.error,
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self.odrv_axis.encoder))
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sys.exit(1)
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# If offset_float isn't 0.5 within some tolerance, or its not 1.5 within
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# some tolerance, raise an error
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if not ((self.odrv_axis.encoder.config.offset_float > 0.5 - self.ENCODER_OFFSET_FLOAT_TOLERANCE and \
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self.odrv_axis.encoder.config.offset_float < 0.5 + self.ENCODER_OFFSET_FLOAT_TOLERANCE) or \
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(self.odrv_axis.encoder.config.offset_float > 1.5 - self.ENCODER_OFFSET_FLOAT_TOLERANCE and \
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self.odrv_axis.encoder.config.offset_float < 1.5 + self.ENCODER_OFFSET_FLOAT_TOLERANCE)):
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print("Error: After odrive encoder calibration, the 'offset_float' "
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"is at {}, which is outside of the expected range. 'offset_float' "
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"should be close to 0.5 or 1.5 with a tolerance of {}. Either "
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"increase the tolerance or debug/fix your setup. Printing out "
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"Odrive encoder data for debug:\n{}".format(self.odrv_axis.encoder.config.offset_float,
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self.ENCODER_OFFSET_FLOAT_TOLERANCE,
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self.odrv_axis.encoder))
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sys.exit(1)
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# If all looks good, then lets tell ODrive that saving this calibration
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# to persistent memory is OK
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self.odrv_axis.encoder.config.pre_calibrated = True
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print("Saving calibration configuration and rebooting...")
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self.odrv.save_configuration()
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print("Calibration configuration saved.")
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try:
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self.odrv.reboot()
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except ChannelBrokenException:
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pass
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self._find_odrive()
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print("Odrive configuration finished.")
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def mode_idle(self):
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"""
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Puts the motor in idle (i.e. can move freely).
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"""
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self.odrv_axis.requested_state = AXIS_STATE_IDLE
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def mode_close_loop_control(self):
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"""
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Puts the motor in closed loop control.
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"""
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self.odrv_axis.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
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def move_input_pos(self, angle):
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"""
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Puts the motor at a certain angle.
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:param angle: Angle you want the motor to move.
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:type angle: int or float
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"""
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self.odrv_axis.controller.input_pos = angle/360.0
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if __name__ == "__main__":
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hb_motor_config = MotorConfig(axis_num = 0)
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hb_motor_config.configure()
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print("CONDUCTING MOTOR TEST")
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print("Placing motor in close loop control. If you move motor, motor will "
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"resist you.")
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hb_motor_config.mode_close_loop_control()
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# Go from 0 to 360 degrees in increments of 30 degrees
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for angle in range(0, 390, 30):
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print("Setting motor to {} degrees.".format(angle))
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hb_motor_config.move_input_pos(angle)
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time.sleep(5)
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print("Placing motor in idle. If you move motor, motor will "
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"move freely")
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hb_motor_config.mode_idle()
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