Currently the master branch is still in development and is not useable.
To work on a feature, create a new branch following this naming convention uniqname_featureName.
After a pull request of the feature branch has been merged, delete the feature branch.
- First make sure to install a version of Python, either in the terminal(for MacOS users) or through the Anaconda Navigator (required for windows).
- Then type
pip install --upgrade odrivein the Python terminal - Connect your device to the ODrive and type
odrivetoolin the terminal.
You should now see that your device has successfully connected to an ODrive. Remember, the ODrives require at least 12V and must be powered separately through a battery to turn the motor.
If you're on Windows, you may run into an issue where the USB device doesn't open. Open the Zadig Utility and download the latest version. Make sure to hit 'X' on the advertisement. Then run the .exe file and click "Allow." Connect to your ODrive if you have not already, and ensure that you see a WinUSB in one box and ODrive Native Interface in another box (these are not exact messages). Hit "Install." After a few minutes, the driver will be installed, and typing odrivetool in the Python terminal will allow you to successfully interface with the ODrives.
TODO: Update this section to show which pins on the STM32 to connect to
To work with the motors, follow the encoder and motor setup here.
Afterwards, calibrate the motors with odrv0.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE. Within two seconds, a beep will occur, followed by the calibration. The calibration consists of three different phases. If at any point the calibration fails, the motor will stop working, and the ODrive will update all the error flags.
After a successful calibration sequence, enter odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL. Then type odrv0.axis0.controller.config.control_mode to check what mode the ODrive is in. The integer value corresponds to one of four modes, which can be verified here. For now, set it to CONTROL_MODE_VELOCITY_CONTROL by typing odrv0.axis0.controller.config.control_mode = CONTROL_MODE_VELOCITY_CONTROL.
To set an input velocity, type odrv0.axis0.controller.input_vel = x where x is the value in revolutions per second. The current tested range is (-MAX, 2) ∪ [0, 0] ∪ (2, MAX) where MAX is the maximum revolutions per second allowed. This value can be changed by the user. If at any point the motor stops spinning, it means that the ODrive has errors and that the error flags have been set.
If there are errors at any point, type dump_errors(odrv0) to view all errors, and type odrv0.clear_errors() to reset all the error flags. Then start over with the calibration sequence.
The ODrive's configuration can be saved to a JSON file using the command odrivetool backup-config my_config.json. It can be saved to an ODrive from the configuration file using odrivetool restore-config my_config.json and in odrivetool, odrv0.save_configuration(). The current configuration is stored under odrive/config/OdriveS1_current_config. You must make sure the firmware version for the OdriveS1 is 0.6.7 for the configuration to work. You can update the firmware version by following this article
Currently, STM32 is connected via UART to the Odrive. You must connect STM32 ground and 3.3V to the ISO ground and ISO VDD on the Odrive S1.
Left wheel Odrive Rx -> STM pin PC6
Left wheel Odrive TX -> STM pin PC7
Right wheel Odrive Rx -> STM pin PA2
Right wheel Odrive TX -> STM pin PA3