*

2025-05-13 01:34:53 +03:00
parent 427735e23d
commit 83f3f1c7d4
945 changed files with 633484 additions and 0 deletions
@@ -0,0 +1,67 @@
+================================================================================
+Step/Direction
+================================================================================
+
+.. contents::
+   :depth: 1
+   :local:
+   
+This is the simplest possible way of controlling the ODrive. 
+It is also the most primitive and fragile one. So don't use it unless you must interoperate with other hardware that you don't control.
+
+Pinout
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+* Step/dir signals: Any GPIOs can be used. Also see :ref:`Pinout <pinout-chart>` for more info.
+* GND: you must connect the grounds of the devices together. Use any GND pin on J3 of the ODrive.
+
+How to Configure
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+ #. Choose any two of the unused GPIOs for step/dir input. 
+    Let's say you chose GPIO7 for the step signal and GPIO8 for the dir signal.
+ #. Configure the GPIO modes:
+
+       .. code:: iPython
+                     
+              <odrv>.config.gpio7_mode = GPIO_MODE_DIGITAL_PULL_DOWN
+              <odrv>.config.gpio8_mode = GPIO_MODE_DIGITAL
+
+ #. Configure the axis:
+
+       .. code:: iPython
+                     
+              <axis>.config.step_gpio_pin = 7
+              <axis>.config.dir_gpio_pin = 8
+              <axis>.config.enable_step_dir = True
+
+ #. Enable circular setpoints
+
+       .. code:: iPython
+
+              <axis>.controller.config.circular_setpoints = True
+
+After this, step and direction will be enabled when you put the axis into closed loop control. 
+Note that to change out of step/dir, you need to set :code:`<axis>.config.enable_step_dir = False`, go to :code:`AXIS_STATE_IDLE`, and then back into closed loop control.
+
+Circular setpoints are used to keep floating point error at a manageable error for systems where the motor can rotate large amounts. 
+If the motor is commanded out of the circular range, the position setpoint automatically wraps around to stay in the range. 
+Two parameters are used to control this behavior: :code:`<odrv>.<axis>.controller.config.circular_setpoint_range` and :code:`<odrv>.<axis>.controller.config.steps_per_circular_range`. 
+The circular setpoint range sets the operating range of input_pos, starting at 0.0. The :code:`steps per circular range` setting controls how many steps are needed to traverse the entire range. 
+
+For example, to use 1024 steps per 1 full motor turn, set
+
+.. code:: iPython
+              
+       <odrv>.<axis>.controller.config.circular_setpoint_range = 1.0   #[turns]
+       <odrv>.<axis>.controller.config.steps_per_circular_range = 1024 #[steps]
+
+
+The circular range is a floating point value and the steps per circular range parameter is an integer. 
+For best results, set both parameters to powers of 2.
+
+The maximum step rate is pending tests, but 250kHz step rates with both axes in closed loop has been achieved.
+
+Please be aware that there is no enable line right now, and the step/direction interface is enabled by default, and remains active as long as the ODrive is in position control mode. 
+To get the ODrive to go into position control mode at bootup, see how to configure the :ref:`startup procedure <commands-startup-procedure>`.