71 lines
1.9 KiB
YAML
71 lines
1.9 KiB
YAML
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type: parallel
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# ODrives
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odrives:
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- name: top-odrive
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board-version: v3.5-48V
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serial-number: "3660335E3037"
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brake-resistance: 0.47
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uart: /dev/serial/by-id/[not-yet-used]
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usb: auto
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programmer: '\x53\x3f\x75\x06\x49\x3f\x49\x51\x44\x54\x19\x3f'
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vbus-voltage: 24 # [V]
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max-brake-power: 150 # [W]
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axes:
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- name: 'yellow'
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motor-phase-resistance: 0.0245
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motor-phase-inductance: 2.03e-05
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motor-pole-pairs: 7
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motor-direction: 1
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motor-kv: 190
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motor-max-current: 70
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motor-max-voltage: 40
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encoder-cpr: 8192
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encoder-max-rpm: 7000
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- name: 'black'
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motor-phase-resistance: 0.028
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motor-phase-inductance: 1.6e-05
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motor-pole-pairs: 7
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motor-direction: -1
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motor-kv: 270
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motor-max-current: 70
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motor-max-voltage: 32
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encoder-cpr: 8192
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encoder-max-rpm: 7000
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- name: bottom-odrive
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board-version: v3.5-24V
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serial-number: "3661335E3037"
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brake-resistance: 0.47
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uart: /dev/serial/by-id/[not-yet-used]
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usb: auto
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programmer: '\x49\x3f\x6f\x06\x49\x3f\x56\x54\x09\x29\x11\x3f'
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vbus-voltage: 24 # [V]
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max-brake-power: 150 # [W]
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axes:
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- name: 'black'
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motor-phase-resistance: 0.028
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motor-phase-inductance: 1.6e-05
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motor-pole-pairs: 7
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motor-direction: 1
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motor-kv: 270
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motor-max-current: 70
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motor-max-voltage: 32
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encoder-cpr: 8192
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encoder-max-rpm: 7000
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- name: 'yellow'
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motor-phase-resistance: 0.0245
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motor-phase-inductance: 2.03e-05
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motor-pole-pairs: 7
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motor-direction: -1
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motor-kv: 190
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motor-max-current: 70
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motor-max-voltage: 40
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encoder-cpr: 8192
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encoder-max-rpm: 7000
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# Mechanical couplings
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couplings:
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- [ top-odrive.yellow, bottom-odrive.yellow ]
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- [ top-odrive.black, bottom-odrive.black ]
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