Problem statement
UW Robotics uses odrive V3.6(NRND) as the motor driver to control the odrive 150kv brushless motor. The goal of this document is to describe the current drive setup and to give a guide on how to set up the drive if someone needs to test it. This document also contain characterization data of the current setup.
Environment Setup:
Wiring diagram(hardware):
Configuration setup(software):
Testing Process:
Ensure ODrive is connected to a laptop and wired correctly
Add 5 V fuse to positive terminal of power supply
Open the odrivetool in an anaconda terminal
Start with a calibration for axis0 and axis1:
odrv0.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE
Switch to closed loop control for axis0 and axis1:
odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
Test velocity with velocity control:
odrv0.axis0.controller.input_vel = *insert number*
Characterizing result:
Outstanding tickets:
- <action name>, <Assignee>
Reference and Datasheet
odrive software guide: https://docs.odriverobotics.com/v/0.5.6/getting-started.html
odrive V3.6: https://odriverobotics.com/shop/odrive-v36
odrive 150kv: https://odriverobotics.com/shop/odrive-custom-motor-d6374-150kv
CUI AMT10E2-V capacitive encoder: https://www.cuidevices.com/product/resource/amt10e-v.pdf