Arm testing rig Test #2 Proposal

Owned by Yuchen Lin
Last updated: Jul 17, 2024
1 min read

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 and plot the graph for us.

image-20240716-194513.png

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)