Odrive Config Values

Owned by Nicolas Palmar
Last updated: Feb 27, 2023
1 min read

This page is meant to document working config files for Odrive v3.6 running on firmware version 0.5.5.

How to run the different control modes:

  1. Make sure the odrive firmware version is 0.5.5 and the config file dumps no errors after saving the configuration.

  2. Run the requested state to calibration sequence

  3. Set the requested state to closed loop control

  4. Set the input mode to the desired one (link a page with the possible control modes)

  5. Set the control mode to the desired one (link page here as well)

Maxon motor (https://www.maxongroup.us/medias/sys_master/root/8882563186718/EN-21-299.pdf) with AMT10 CUI encoder (https://www.cuidevices.com/product/resource/amt10.pdf). The config works for trajectory control, position control, and ramped velocity control modes (torque control is semi working as well).

UPDATE: Config values for odrive v3.6 are stored by encoder and motor type on this repo: GitHub - uwrobotics/UWRTMarsRoverFirmware: Firmware for the University of Waterloo Robotics Team Marse Rover. The json config file should be able to be uploaded straight to odrives using these specific encoders/motors (on the repo). New encoder/motor odrive configs will be added here in the future as well.