Published: Jul 20, 2022 by Henry Forsyth

Great Links for Understanding how to configure the ODrive

ENCODER_MODE_HALL = 1

Always save configuration and reboot before trying to run the calibration

Update Odrive Firmware

Description of Odrive Settings

API for v3.6

Therminstor Docs

Steps:

Modified Setup for a Flipsky Motor

Pinout

odrv0.erase_configuration()
odrv0.reboot()

# axis0
odrv0.config.gpio9_mode = GPIO_MODE_DIGITAL
odrv0.config.gpio10_mode = GPIO_MODE_DIGITAL
odrv0.config.gpio11_mode = GPIO_MODE_DIGITAL

# axis1
odrv0.config.gpio12_mode = GPIO_MODE_DIGITAL
odrv0.config.gpio13_mode = GPIO_MODE_DIGITAL
odrv0.config.gpio14_mode = GPIO_MODE_DIGITAL

odrv0.axis0.motor.config.current_lim = 20
odrv0.axis0.controller.config.vel_limit = 2
odrv0.config.enable_brake_resistor = True
odrv0.axis0.motor.config.pole_pairs = 7
odrv0.axis0.motor.config.torque_constant = 0.04352631578
odrv0.axis0.motor.config.motor_type = MOTOR_TYPE_HIGH_CURRENT
odrv0.axis0.encoder.config.cpr = 42
odrv0.axis0.motor.config.resistance_calib_max_voltage = 2
odrv0.axis0.encoder.config.mode = ENCODER_MODE_HALL

# ------- Additional Needed Configs -----------
odrv0.axis0.encoder.config.bandwidth = 100
odrv0.axis0.controller.config.pos_gain = 1
odrv0.axis0.controller.config.vel_gain = 0.02 * odrv0.axis0.motor.config.torque_constant * odrv0.axis0.encoder.config.cpr
odrv0.axis0.controller.config.vel_integrator_gain = 0.1 * odrv0.axis0.motor.config.torque_constant * odrv0.axis0.encoder.config.cpr
odrv0.axis0.controller.config.vel_limit = 20

# ----------------------------------------------

odrv0.save_configuration()

odrv0.axis0.requested_state = AXIS_STATE_MOTOR_CALIBRATION
odrv0.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE

odrv0.axis0.motor.config.pre_calibrated = True
odrv0.axis0.encoder.config.pre_calibrated = True
odrv0.axis0.config.startup_encoder_index_search=True


dump_errors(odrv0)

odrv0.save_configuration()

odrv0.reboot()

# Below are the steps to enter velocity control mode and run a quick test

odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
odrv0.axis0.controller.config.control_mode = CONTROL_MODE_VELOCITY_CONTROL

odrv0.axis0.controller.input_vel = 5

Ramped Velocity Control

odrv0.axis0.controller.config.vel_ramp_rate = 0.5
odrv0.axis0.controller.config.input_mode = INPUT_MODE_VEL_RAMP

# Control Velocity with the below:
odrv0.axis0.controller.input_vel = 1

Homing the Odrive Axis

odrv0.config.gpio6_mode = GPIO_MODE_DIGITAL
odrv0.axis0.min_endstop.config.gpio_num = 6
odrv0.axis0.min_endstop.config.is_active_high = True
odrv0.axis0.min_endstop.config.offset = -3
odrv0.axis0.min_endstop.config.enabled = True
odrv0.config.gpio6_mode = GPIO_MODE_DIGITAL_PULL_DOWN

odrv0.save_configuration()

odrv0.axis0.controller.config.homing_speed = 2

odrv0.axis0.requested_state=AXIS_STATE_HOMING

Trajectory Control

odrv0.axis0.trap_traj.config.vel_limit = 10
odrv0.axis0.trap_traj.config.accel_limit = 6
odrv0.axis0.trap_traj.config.decel_limit = 6
odrv0.axis0.controller.config.inertia = 0

odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL

odrv0.axis0.controller.config.input_mode = INPUT_MODE_TRAP_TRAJ
odrv0.axis0.controller.input_pos = <Float> (For my setup, 0 to 4.4 have been working for a full rotation)

Misc Useful Commands

odrv0.erase_configuration()
odrv0.clear_errors()
odrv0.axis0.encoder.config.ignore_illegal_hall_state = True
odrv0.axis0.encoder.config.hall_polarity_calibrated = True
odrv0.axis0.motor.config.current_control_bandwidth = 2000

odrv0.axis0.requested_state = AXIS_STATE_IDLE

odrv0.axis1.motor.motor_thermistor

Some notes on current developmemt:

Alright so weird thing:

Here’s some context: Using Hall motors, A and B, without capacitors for noise (just because I was curious to see if it would work) Motor A works on axis1, but motor B doesn’t work on axis0 (ENCODER_ERROR_ILLEGAL_HALL_STATE). As a sanity check, I moved A to axis0 and configured it the same way I did for axis1. Now, for some reason, it also doesn’t work (ENCODER_ERROR_ILLEGAL_HALL_STATE). This is an Odrive v3.6. Thoughts? Maybe a pinmode that needs to be set for axis0? Wiring of HALL wires is the same as the hoverboard tutorial, using GND, A, B, Z and voltage for axis0

It could be multiple things, but here are the steps forward that I want to take:

Scope the output of the motor, although I don’t know how that would help based on the testing above Make sure pinouts and axis are configured the same Check voltage on board to make sure encoder is being powered

^^ Looks like the above notes were solved by using the recommended caps, seen in a post here: Caps

Fun With ODrive