Proposal:
Let’s create a very cool testing setup for the arm testing Rig.
Goal:
The system will involve input from a joystick → the joystick input will be mapped to a velocity command to control the ODRIVE PRO. A PI or a Jetson relays the internal command and controls the motor for A2. Note: Set up a trace logger and record the motor current draw every 500ms.
What’s more exciting:
Incorporate a 5.8Ghz radio link(nano)
Use ROS2
Have an absolute encoder to measure the angle of the arm current.
Timeline:
Hopefully, the order will arrive during the final period (new motor; gearbox[maybe]; joystick; encoder[maybe]; motor driver])
Set up the test rig after the finals
develop the software after the project is approved(code ready before order arrived)
System integration
Odrive setup and testing(half a day)