*

2025-05-13 01:34:53 +03:00
parent 427735e23d
commit 83f3f1c7d4
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+
+type: loopback
+
+odrives:
+  - name: odrv-blackside
+    board-version: v3.4-24V
+    serial-number: "3061395B3235"
+    brake-resistance: 0.47
+    uart: /dev/serial/by-id/[not-yet-used]
+    usb: auto
+    programmer: '\x49\x3f\x6f\x06\x49\x3f\x56\x54\x09\x29\x11\x3f'
+    vbus-voltage: 24 # [V]
+    max-brake-power: 150 # [W]
+    axes:
+      - name: 'M0'
+        motor-phase-resistance: 0.028
+        motor-phase-inductance: 1.6e-05
+        motor-pole-pairs: 7
+        motor-direction: 1
+        motor-kv: 270
+        motor-max-current: 70
+        motor-max-voltage: 32
+        encoder-cpr: 8192
+        encoder-max-rpm: 7000
+      - name: 'M1'
+        motor-phase-resistance: 0.028
+        motor-phase-inductance: 1.6e-05
+        motor-pole-pairs: 7
+        motor-direction: -1
+        motor-kv: 270
+        motor-max-current: 70
+        motor-max-voltage: 32
+        encoder-cpr: 8192
+        encoder-max-rpm: 7000
+  - name: odrv-yellowside
+    board-version: v3.5-48V
+    serial-number: "3660335E3037"
+    brake-resistance: 0.47
+    uart: /dev/serial/by-id/[not-yet-used]
+    usb: auto
+    programmer: '\x53\x3f\x75\x06\x49\x3f\x49\x51\x44\x54\x19\x3f'
+    vbus-voltage: 48 # [V]
+    max-brake-power: 150 # [W]
+    axes:
+      - name: 'M0'
+        motor-phase-resistance: 0.0245
+        motor-phase-inductance: 2.03e-05
+        motor-pole-pairs: 7
+        motor-direction: 1
+        motor-kv: 190
+        motor-max-current: 70
+        motor-max-voltage: 40
+        encoder-cpr: 8192
+        encoder-max-rpm: 7000
+      - name: 'M1'
+        motor-phase-resistance: 0.0245
+        motor-phase-inductance: 2.03e-05
+        motor-pole-pairs: 7
+        motor-direction: -1
+        motor-kv: 190
+        motor-max-current: 70
+        motor-max-voltage: 40
+        encoder-cpr: 8192
+        encoder-max-rpm: 7000
+
+# Mechanical couplings
+couplings:
+  - [ odrv-blackside.M0, odrv-blackside.M1 ]
+  - [ odrv-yellowside.M0, odrv-yellowside.M1 ]