*

2025-05-13 01:34:53 +03:00
parent 427735e23d
commit 83f3f1c7d4
945 changed files with 633484 additions and 0 deletions
@@ -0,0 +1,97 @@
+
+import odrive
+from odrive.utils import dump_errors
+from odrive.enums import *
+import time
+
+print("Finding an odrive...")
+odrv = odrive.find_any()
+
+# axes = [odrv.axis0, odrv.axis1];
+axes = [odrv.axis0];
+
+flip_index_search_direction = False
+save_and_reboot = True
+
+print("Setting config...")
+# Settings to protect battery
+odrv.config.dc_bus_overvoltage_trip_level = 14.8
+odrv.config.dc_bus_undervoltage_trip_level = 8.0
+odrv.config.brake_resistance = 0
+for ax in axes:
+    ax.motor.config.requested_current_range = 25
+    ax.motor.config.calibration_current = 10
+    ax.motor.config.current_lim = 10
+    ax.motor.config.resistance_calib_max_voltage = 4
+    ax.motor.config.pole_pairs = 10
+
+    ax.encoder.config.cpr = 4096
+    ax.encoder.config.use_index = True
+    ax.encoder.config.find_idx_on_lockin_only = True
+    ax.encoder.config.idx_search_unidirectional = True
+
+    ax.controller.config.control_mode = CONTROL_MODE_VELOCITY_CONTROL
+    ax.controller.config.vel_limit = 10000
+    ax.controller.config.vel_gain = 0.002205736003816127
+    ax.controller.config.vel_integrator_gain = 0.022057360038161278
+    ax.controller.config.pos_gain = 26
+
+    ax.config.lockin.current = 10
+    ax.config.lockin.ramp_distance = 3.14
+    ax.config.lockin.vel = 15
+    ax.config.lockin.accel = 10
+    ax.config.lockin.finish_distance = 30
+
+def wait_and_exit_on_error(ax):
+    while ax.current_state != AXIS_STATE_IDLE:
+        time.sleep(0.1)
+    if ax.error != AXIS_ERROR_NONE:
+        dump_errors(odrv, True)
+        exit()
+
+for axnum, ax in enumerate(axes):
+    print("Calibrating motor {}...".format(axnum))
+    ax.requested_state = AXIS_STATE_MOTOR_CALIBRATION
+    wait_and_exit_on_error(ax)
+
+    print("Checking motor {} direction...".format(axnum))
+    ax.requested_state = AXIS_STATE_ENCODER_DIR_FIND
+    wait_and_exit_on_error(ax)
+    print("    Direction is {}".format(ax.motor.config.direction))
+
+    if flip_index_search_direction:
+        ax.config.lockin.ramp_distance = -ax.config.lockin.ramp_distance
+        ax.config.lockin.vel = -ax.config.lockin.vel
+        ax.config.lockin.accel = -ax.config.lockin.accel
+
+    print("Searching for index on motor {}...".format(axnum))
+    ax.requested_state = AXIS_STATE_ENCODER_INDEX_SEARCH
+    wait_and_exit_on_error(ax)
+    if (not ax.encoder.index_found):
+        print("Failed finding index! Quitting.")
+        exit()
+
+    print("Calibrating encoder offset on motor {}...".format(axnum))
+    ax.requested_state = AXIS_STATE_ENCODER_OFFSET_CALIBRATION
+    wait_and_exit_on_error(ax)
+    if (not ax.encoder.is_ready):
+        print("Failed to calibrate encoder! Quitting")
+        exit()
+
+    # If we get here there were no errors, so let's commit the values
+    ax.motor.config.pre_calibrated = True
+    ax.encoder.config.pre_calibrated = True
+
+    # Uncomment this if you wish to automatically run index search and closed loop control on boot
+    # ax.config.startup_encoder_index_search = True
+    # ax.config.startup_closed_loop_control = True
+
+#Everything should be good to go here, so let's save and reboot
+print("")
+print("All operations successful!")
+if save_and_reboot:
+    odrv.save_configuration()
+    try:
+        odrv.reboot()
+    except odrive.fibre.ChannelBrokenException:
+        pass