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ODrive Calibration/ODrive_calibration.py

@@ -0,0 +1,272 @@
+
+
+"""
+These configurations is based on Austin Owens implementation: https://github.com/AustinOwens/robodog/blob/main/odrive/configs/odrive_hoverboard_config.py
+
+It was based on the hoverboard tutorial found on the Odrive Robotics website at:  https://docs.odriverobotics.com/v/0.5.4/hoverboard.html
+
+"""
+
+import sys
+import time
+import math
+import odrive
+from odrive.enums import *
+import fibre.libfibre
+from fibre import Logger, Event
+from odrive.utils import OperationAbortedException
+
+
+class MotorConfig:
+    """
+    Class for configuring an Odrive axis for a Hoverboard motor. 
+    Only works with one Odrive at a time.
+    """
+    
+    # Hoverboard Kv
+    HOVERBOARD_KV = 16.0
+        
+    # Min/Max phase inductance of motor
+    MIN_PHASE_INDUCTANCE = 0
+    MAX_PHASE_INDUCTANCE = 0.001
+    
+    # Min/Max phase resistance of motor
+    MIN_PHASE_RESISTANCE = 0
+    MAX_PHASE_RESISTANCE = 0.5
+    
+    # Tolerance for encoder offset float
+    ENCODER_OFFSET_FLOAT_TOLERANCE = 0.05
+
+    def __init__(self, axis_num):
+        """
+        Initalizes MotorConfig class by finding odrive, erase its 
+        configuration, and grabbing specified axis object.
+        
+        :param axis_num: Which channel/motor on the odrive your referring to.
+        :type axis_num: int (0 or 1)
+        """
+        
+        self.axis_num = axis_num
+    
+        # Connect to Odrive
+        print("Looking for ODrive...")
+        self._find_odrive()
+        print("Found ODrive.")
+        
+    def _find_odrive(self):
+        # connect to Odrive
+        self.odrv = odrive.find_any()
+        self.odrv_axis = getattr(self.odrv, "axis{}".format(self.axis_num))
+    
+    def configure(self):
+        """
+        Configures the odrive device for a hoverboard motor.
+        """
+        
+        # Erase pre-exsisting configuration
+        print("Erasing pre-exsisting configuration...")
+        try:
+            self.odrv.erase_configuration()
+        except ChannelBrokenException:
+            pass
+        
+        self._find_odrive()
+        
+        # Standard 6.5 inch hoverboard hub motors have 30 permanent magnet 
+        # poles, and thus 15 pole pairs
+        self.odrv_axis.motor.config.pole_pairs = 15
+
+        # Hoverboard hub motors are quite high resistance compared to the hobby 
+        # aircraft motors, so we want to use a bit higher voltage for the motor 
+        # calibration, and set up the current sense gain to be more sensitive. 
+        # The motors are also fairly high inductance, so we need to reduce the 
+        # bandwidth of the current controller from the default to keep it 
+        # stable.
+        self.odrv_axis.motor.config.resistance_calib_max_voltage = 4
+        self.odrv_axis.motor.config.requested_current_range      = 25
+        self.odrv_axis.motor.config.current_control_bandwidth    = 100
+
+        # Estimated KV but should be measured using the "drill test", which can
+        # be found here: # https://discourse.odriverobotics.com/t/project-hoverarm/441
+        self.odrv_axis.motor.config.torque_constant = 8.27 / self.HOVERBOARD_KV
+
+        # Hoverboard motors contain hall effect sensors instead of incremental 
+        # encorders
+        self.odrv_axis.encoder.config.mode = ENCODER_MODE_HALL
+
+        # The hall feedback has 6 states for every pole pair in the motor. Since
+        # we have 15 pole pairs, we set the cpr to 15*6 = 90.
+        self.odrv_axis.encoder.config.cpr = 90
+
+        # Since hall sensors are low resolution feedback, we also bump up the 
+        #offset calibration displacement to get better calibration accuracy.
+        self.odrv_axis.encoder.config.calib_scan_distance = 150
+
+        # Since the hall feedback only has 90 counts per revolution, we want to 
+        # reduce the velocity tracking bandwidth to get smoother velocity 
+        # estimates. We can also set these fairly modest gains that will be a
+        # bit sloppy but shouldn’t shake your rig apart if it’s built poorly. 
+        # Make sure to tune the gains up when you have everything else working 
+        # to a stiffness that is applicable to your application.
+        self.odrv_axis.encoder.config.bandwidth = 100
+        self.odrv_axis.controller.config.pos_gain = 1
+        self.odrv_axis.controller.config.vel_gain = 0.02 * self.odrv_axis.motor.config.torque_constant * self.odrv_axis.encoder.config.cpr
+        self.odrv_axis.controller.config.vel_integrator_gain = 0.1 * self.odrv_axis.motor.config.torque_constant * self.odrv_axis.encoder.config.cpr
+        self.odrv_axis.controller.config.vel_limit = 10
+
+        # Set in position control mode so we can control the position of the wheel
+        self.odrv_axis.controller.config.control_mode = CONTROL_MODE_POSITION_CONTROL
+
+        # In the next step we are going to start powering the motor and so we 
+        # want to make sure that some of the above settings that require a 
+        # reboot are applied first.
+        print("Saving manual configuration and rebooting...")
+        self.odrv.save_configuration()
+        print("Manual configuration saved.")
+        try:
+            self.odrv.reboot()
+        except ChannelBrokenException:
+            pass
+            
+        self._find_odrive()
+
+        input("Make sure the motor is free to move, then press enter...")
+        
+        print("Calibrating Odrive for hoverboard motor (you should hear a " "beep)...")
+        
+        self.odrv_axis.requested_state = AXIS_STATE_MOTOR_CALIBRATION
+        
+        # Wait for calibration to take place
+        time.sleep(10)
+
+        if self.odrv_axis.motor.error != 0:
+            print("Error: Odrive reported an error of {} while in the state " 
+            "AXIS_STATE_MOTOR_CALIBRATION. Printing out Odrive motor data for "
+            "debug:\n{}".format(self.odrv_axis.motor.error, 
+                                self.odrv_axis.motor))
+            
+            sys.exit(1)
+
+        if self.odrv_axis.motor.config.phase_inductance <= self.MIN_PHASE_INDUCTANCE or \
+        self.odrv_axis.motor.config.phase_inductance >= self.MAX_PHASE_INDUCTANCE:
+            print("Error: After odrive motor calibration, the phase inductance "
+            "is at {}, which is outside of the expected range. Either widen the "
+            "boundaries of MIN_PHASE_INDUCTANCE and MAX_PHASE_INDUCTANCE (which "
+            "is between {} and {} respectively) or debug/fix your setup. Printing "
+            "out Odrive motor data for debug:\n{}".format(self.odrv_axis.motor.config.phase_inductance, 
+                                                          self.MIN_PHASE_INDUCTANCE,
+                                                          self.MAX_PHASE_INDUCTANCE, 
+                                                          self.odrv_axis.motor))
+            
+            sys.exit(1)
+
+        if self.odrv_axis.motor.config.phase_resistance <= self.MIN_PHASE_RESISTANCE or \
+        self.odrv_axis.motor.config.phase_resistance >= self.MAX_PHASE_RESISTANCE:
+            print("Error: After odrive motor calibration, the phase resistance "
+            "is at {}, which is outside of the expected range. Either raise the "
+            "MAX_PHASE_RESISTANCE (which is between {} and {} respectively) or "
+            "debug/fix your setup. Printing out Odrive motor data for " 
+            "debug:\n{}".format(self.odrv_axis.motor.config.phase_resistance, 
+                                self.MIN_PHASE_RESISTANCE,
+                                self.MAX_PHASE_RESISTANCE, 
+                                self.odrv_axis.motor))
+            
+            sys.exit(1)
+
+        # If all looks good, then lets tell ODrive that saving this calibration 
+        # to persistent memory is OK
+        self.odrv_axis.motor.config.pre_calibrated = True
+
+        # Check the alignment between the motor and the hall sensor. Because of 
+        # this step you are allowed to plug the motor phases in random order and
+        # also the hall signals can be random. Just don’t change it after 
+        # calibration.
+        print("Calibrating Odrive for encoder...")
+        self.odrv_axis.requested_state = AXIS_STATE_ENCODER_OFFSET_CALIBRATION
+        
+        # Wait for calibration to take place
+        time.sleep(30)
+            
+        if self.odrv_axis.encoder.error != 0:
+            print("Error: Odrive reported an error of {} while in the state "
+            "AXIS_STATE_ENCODER_OFFSET_CALIBRATION. Printing out Odrive encoder "
+            "data for debug:\n{}".format(self.odrv_axis.encoder.error, 
+                                         self.odrv_axis.encoder))
+            
+            sys.exit(1)
+        
+        # If offset_float isn't 0.5 within some tolerance, or its not 1.5 within
+        # some tolerance, raise an error
+        if not ((self.odrv_axis.encoder.config.offset_float > 0.5 - self.ENCODER_OFFSET_FLOAT_TOLERANCE and \
+        self.odrv_axis.encoder.config.offset_float < 0.5 + self.ENCODER_OFFSET_FLOAT_TOLERANCE) or \
+        (self.odrv_axis.encoder.config.offset_float > 1.5 - self.ENCODER_OFFSET_FLOAT_TOLERANCE and \
+        self.odrv_axis.encoder.config.offset_float < 1.5 + self.ENCODER_OFFSET_FLOAT_TOLERANCE)):
+            print("Error: After odrive encoder calibration, the 'offset_float' "
+            "is at {}, which is outside of the expected range. 'offset_float' "
+            "should be close to 0.5 or 1.5 with a tolerance of {}. Either "
+            "increase the tolerance or debug/fix your setup. Printing out "
+            "Odrive encoder data for debug:\n{}".format(self.odrv_axis.encoder.config.offset_float, 
+                                                        self.ENCODER_OFFSET_FLOAT_TOLERANCE, 
+                                                        self.odrv_axis.encoder))
+                       
+            sys.exit(1)
+        
+        # If all looks good, then lets tell ODrive that saving this calibration 
+        # to persistent memory is OK
+        self.odrv_axis.encoder.config.pre_calibrated = True
+        
+        print("Saving calibration configuration and rebooting...")
+        self.odrv.save_configuration()
+        print("Calibration configuration saved.")
+        try:
+            self.odrv.reboot()
+        except ChannelBrokenException:
+            pass
+            
+        self._find_odrive()
+        
+        print("Odrive configuration finished.")
+    
+    def mode_idle(self):
+        """
+        Puts the motor in idle (i.e. can move freely).
+        """
+        
+        self.odrv_axis.requested_state = AXIS_STATE_IDLE
+    
+    def mode_close_loop_control(self):
+        """
+        Puts the motor in closed loop control.
+        """
+        
+        self.odrv_axis.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
+        
+    def move_input_pos(self, angle):
+        """
+        Puts the motor at a certain angle.
+        
+        :param angle: Angle you want the motor to move.
+        :type angle: int or float
+        """
+        
+        self.odrv_axis.controller.input_pos = angle/360.0
+
+if __name__ == "__main__":
+    hb_motor_config = MotorConfig(axis_num = 0)
+    hb_motor_config.configure()
+    
+    print("CONDUCTING MOTOR TEST")
+    print("Placing motor in close loop control. If you move motor, motor will "
+          "resist you.")
+    hb_motor_config.mode_close_loop_control()
+    
+    # Go from 0 to 360 degrees in increments of 30 degrees
+    for angle in range(0, 390, 30):
+        print("Setting motor to {} degrees.".format(angle))
+        hb_motor_config.move_input_pos(angle)
+        time.sleep(5)
+    
+    print("Placing motor in idle. If you move motor, motor will "
+          "move freely")
+    hb_motor_config.mode_idle()
+    

Software Files/ODrive Calibration/ODrive_calibration.py

@@ -0,0 +1,272 @@
+
+
+"""
+These configurations is based on Austin Owens implementation: https://github.com/AustinOwens/robodog/blob/main/odrive/configs/odrive_hoverboard_config.py
+
+It was based on the hoverboard tutorial found on the Odrive Robotics website at:  https://docs.odriverobotics.com/v/0.5.4/hoverboard.html
+
+"""
+
+import sys
+import time
+import math
+import odrive
+from odrive.enums import *
+import fibre.libfibre
+from fibre import Logger, Event
+from odrive.utils import OperationAbortedException
+
+
+class MotorConfig:
+    """
+    Class for configuring an Odrive axis for a Hoverboard motor. 
+    Only works with one Odrive at a time.
+    """
+    
+    # Hoverboard Kv
+    HOVERBOARD_KV = 16.0
+        
+    # Min/Max phase inductance of motor
+    MIN_PHASE_INDUCTANCE = 0
+    MAX_PHASE_INDUCTANCE = 0.001
+    
+    # Min/Max phase resistance of motor
+    MIN_PHASE_RESISTANCE = 0
+    MAX_PHASE_RESISTANCE = 0.5
+    
+    # Tolerance for encoder offset float
+    ENCODER_OFFSET_FLOAT_TOLERANCE = 0.05
+
+    def __init__(self, axis_num):
+        """
+        Initalizes MotorConfig class by finding odrive, erase its 
+        configuration, and grabbing specified axis object.
+        
+        :param axis_num: Which channel/motor on the odrive your referring to.
+        :type axis_num: int (0 or 1)
+        """
+        
+        self.axis_num = axis_num
+    
+        # Connect to Odrive
+        print("Looking for ODrive...")
+        self._find_odrive()
+        print("Found ODrive.")
+        
+    def _find_odrive(self):
+        # connect to Odrive
+        self.odrv = odrive.find_any()
+        self.odrv_axis = getattr(self.odrv, "axis{}".format(self.axis_num))
+    
+    def configure(self):
+        """
+        Configures the odrive device for a hoverboard motor.
+        """
+        
+        # Erase pre-exsisting configuration
+        print("Erasing pre-exsisting configuration...")
+        try:
+            self.odrv.erase_configuration()
+        except ChannelBrokenException:
+            pass
+        
+        self._find_odrive()
+        
+        # Standard 6.5 inch hoverboard hub motors have 30 permanent magnet 
+        # poles, and thus 15 pole pairs
+        self.odrv_axis.motor.config.pole_pairs = 15
+
+        # Hoverboard hub motors are quite high resistance compared to the hobby 
+        # aircraft motors, so we want to use a bit higher voltage for the motor 
+        # calibration, and set up the current sense gain to be more sensitive. 
+        # The motors are also fairly high inductance, so we need to reduce the 
+        # bandwidth of the current controller from the default to keep it 
+        # stable.
+        self.odrv_axis.motor.config.resistance_calib_max_voltage = 4
+        self.odrv_axis.motor.config.requested_current_range      = 25
+        self.odrv_axis.motor.config.current_control_bandwidth    = 100
+
+        # Estimated KV but should be measured using the "drill test", which can
+        # be found here: # https://discourse.odriverobotics.com/t/project-hoverarm/441
+        self.odrv_axis.motor.config.torque_constant = 8.27 / self.HOVERBOARD_KV
+
+        # Hoverboard motors contain hall effect sensors instead of incremental 
+        # encorders
+        self.odrv_axis.encoder.config.mode = ENCODER_MODE_HALL
+
+        # The hall feedback has 6 states for every pole pair in the motor. Since
+        # we have 15 pole pairs, we set the cpr to 15*6 = 90.
+        self.odrv_axis.encoder.config.cpr = 90
+
+        # Since hall sensors are low resolution feedback, we also bump up the 
+        #offset calibration displacement to get better calibration accuracy.
+        self.odrv_axis.encoder.config.calib_scan_distance = 150
+
+        # Since the hall feedback only has 90 counts per revolution, we want to 
+        # reduce the velocity tracking bandwidth to get smoother velocity 
+        # estimates. We can also set these fairly modest gains that will be a
+        # bit sloppy but shouldn’t shake your rig apart if it’s built poorly. 
+        # Make sure to tune the gains up when you have everything else working 
+        # to a stiffness that is applicable to your application.
+        self.odrv_axis.encoder.config.bandwidth = 100
+        self.odrv_axis.controller.config.pos_gain = 1
+        self.odrv_axis.controller.config.vel_gain = 0.02 * self.odrv_axis.motor.config.torque_constant * self.odrv_axis.encoder.config.cpr
+        self.odrv_axis.controller.config.vel_integrator_gain = 0.1 * self.odrv_axis.motor.config.torque_constant * self.odrv_axis.encoder.config.cpr
+        self.odrv_axis.controller.config.vel_limit = 10
+
+        # Set in position control mode so we can control the position of the wheel
+        self.odrv_axis.controller.config.control_mode = CONTROL_MODE_POSITION_CONTROL
+
+        # In the next step we are going to start powering the motor and so we 
+        # want to make sure that some of the above settings that require a 
+        # reboot are applied first.
+        print("Saving manual configuration and rebooting...")
+        self.odrv.save_configuration()
+        print("Manual configuration saved.")
+        try:
+            self.odrv.reboot()
+        except ChannelBrokenException:
+            pass
+            
+        self._find_odrive()
+
+        input("Make sure the motor is free to move, then press enter...")
+        
+        print("Calibrating Odrive for hoverboard motor (you should hear a " "beep)...")
+        
+        self.odrv_axis.requested_state = AXIS_STATE_MOTOR_CALIBRATION
+        
+        # Wait for calibration to take place
+        time.sleep(10)
+
+        if self.odrv_axis.motor.error != 0:
+            print("Error: Odrive reported an error of {} while in the state " 
+            "AXIS_STATE_MOTOR_CALIBRATION. Printing out Odrive motor data for "
+            "debug:\n{}".format(self.odrv_axis.motor.error, 
+                                self.odrv_axis.motor))
+            
+            sys.exit(1)
+
+        if self.odrv_axis.motor.config.phase_inductance <= self.MIN_PHASE_INDUCTANCE or \
+        self.odrv_axis.motor.config.phase_inductance >= self.MAX_PHASE_INDUCTANCE:
+            print("Error: After odrive motor calibration, the phase inductance "
+            "is at {}, which is outside of the expected range. Either widen the "
+            "boundaries of MIN_PHASE_INDUCTANCE and MAX_PHASE_INDUCTANCE (which "
+            "is between {} and {} respectively) or debug/fix your setup. Printing "
+            "out Odrive motor data for debug:\n{}".format(self.odrv_axis.motor.config.phase_inductance, 
+                                                          self.MIN_PHASE_INDUCTANCE,
+                                                          self.MAX_PHASE_INDUCTANCE, 
+                                                          self.odrv_axis.motor))
+            
+            sys.exit(1)
+
+        if self.odrv_axis.motor.config.phase_resistance <= self.MIN_PHASE_RESISTANCE or \
+        self.odrv_axis.motor.config.phase_resistance >= self.MAX_PHASE_RESISTANCE:
+            print("Error: After odrive motor calibration, the phase resistance "
+            "is at {}, which is outside of the expected range. Either raise the "
+            "MAX_PHASE_RESISTANCE (which is between {} and {} respectively) or "
+            "debug/fix your setup. Printing out Odrive motor data for " 
+            "debug:\n{}".format(self.odrv_axis.motor.config.phase_resistance, 
+                                self.MIN_PHASE_RESISTANCE,
+                                self.MAX_PHASE_RESISTANCE, 
+                                self.odrv_axis.motor))
+            
+            sys.exit(1)
+
+        # If all looks good, then lets tell ODrive that saving this calibration 
+        # to persistent memory is OK
+        self.odrv_axis.motor.config.pre_calibrated = True
+
+        # Check the alignment between the motor and the hall sensor. Because of 
+        # this step you are allowed to plug the motor phases in random order and
+        # also the hall signals can be random. Just don’t change it after 
+        # calibration.
+        print("Calibrating Odrive for encoder...")
+        self.odrv_axis.requested_state = AXIS_STATE_ENCODER_OFFSET_CALIBRATION
+        
+        # Wait for calibration to take place
+        time.sleep(30)
+            
+        if self.odrv_axis.encoder.error != 0:
+            print("Error: Odrive reported an error of {} while in the state "
+            "AXIS_STATE_ENCODER_OFFSET_CALIBRATION. Printing out Odrive encoder "
+            "data for debug:\n{}".format(self.odrv_axis.encoder.error, 
+                                         self.odrv_axis.encoder))
+            
+            sys.exit(1)
+        
+        # If offset_float isn't 0.5 within some tolerance, or its not 1.5 within
+        # some tolerance, raise an error
+        if not ((self.odrv_axis.encoder.config.offset_float > 0.5 - self.ENCODER_OFFSET_FLOAT_TOLERANCE and \
+        self.odrv_axis.encoder.config.offset_float < 0.5 + self.ENCODER_OFFSET_FLOAT_TOLERANCE) or \
+        (self.odrv_axis.encoder.config.offset_float > 1.5 - self.ENCODER_OFFSET_FLOAT_TOLERANCE and \
+        self.odrv_axis.encoder.config.offset_float < 1.5 + self.ENCODER_OFFSET_FLOAT_TOLERANCE)):
+            print("Error: After odrive encoder calibration, the 'offset_float' "
+            "is at {}, which is outside of the expected range. 'offset_float' "
+            "should be close to 0.5 or 1.5 with a tolerance of {}. Either "
+            "increase the tolerance or debug/fix your setup. Printing out "
+            "Odrive encoder data for debug:\n{}".format(self.odrv_axis.encoder.config.offset_float, 
+                                                        self.ENCODER_OFFSET_FLOAT_TOLERANCE, 
+                                                        self.odrv_axis.encoder))
+                       
+            sys.exit(1)
+        
+        # If all looks good, then lets tell ODrive that saving this calibration 
+        # to persistent memory is OK
+        self.odrv_axis.encoder.config.pre_calibrated = True
+        
+        print("Saving calibration configuration and rebooting...")
+        self.odrv.save_configuration()
+        print("Calibration configuration saved.")
+        try:
+            self.odrv.reboot()
+        except ChannelBrokenException:
+            pass
+            
+        self._find_odrive()
+        
+        print("Odrive configuration finished.")
+    
+    def mode_idle(self):
+        """
+        Puts the motor in idle (i.e. can move freely).
+        """
+        
+        self.odrv_axis.requested_state = AXIS_STATE_IDLE
+    
+    def mode_close_loop_control(self):
+        """
+        Puts the motor in closed loop control.
+        """
+        
+        self.odrv_axis.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
+        
+    def move_input_pos(self, angle):
+        """
+        Puts the motor at a certain angle.
+        
+        :param angle: Angle you want the motor to move.
+        :type angle: int or float
+        """
+        
+        self.odrv_axis.controller.input_pos = angle/360.0
+
+if __name__ == "__main__":
+    hb_motor_config = MotorConfig(axis_num = 0)
+    hb_motor_config.configure()
+    
+    print("CONDUCTING MOTOR TEST")
+    print("Placing motor in close loop control. If you move motor, motor will "
+          "resist you.")
+    hb_motor_config.mode_close_loop_control()
+    
+    # Go from 0 to 360 degrees in increments of 30 degrees
+    for angle in range(0, 390, 30):
+        print("Setting motor to {} degrees.".format(angle))
+        hb_motor_config.move_input_pos(angle)
+        time.sleep(5)
+    
+    print("Placing motor in idle. If you move motor, motor will "
+          "move freely")
+    hb_motor_config.mode_idle()
+