uwrobotics / uwrtmarsroverfirmware Goto Github PK

Create an odrive config file that works with the AMT encoders. Store this config file to be run on multiple odrives.

I have re-organized our confluence and want to have some good documentation on odrives. Can you guys please look at this section: https://uwaterloo.atlassian.net/wiki/spaces/UWRT/pages/33962265502/ODrive+Motor+Controllers, delete what is not needed, and add new stuff (ie. do whatever you want to the Odrive Motor Controller section).

I would like to have documentation on how to set up a single odrive motor controller (what steps you would need to take for one specific motor with one specific encoder, this is for configuring odrives).

Also, there should be documentation on usage with odrives (calibrating odrives, basic debugging things that are common and good to know, including errors with CPR, encoder errors that are common, etc). This section should also include the control modes (velocity, position, etc). When to use which one, and how to set it up.

Finally, you should add some stuff on how to tune odrives using the tweaked-PID control loop that they are using. @singhb2020 did this during SAR so some docs on this would be great

When testing the drivetrain, we can to be looking at the current reading over time (how much current the odrives are supplying to the motors), monitoring them (maybe graphically, just to know how much current the odrives are supplying to the motor).

It definitely should be possible based on the odrive native commands: https://discourse.odriverobotics.com/t/reading-current-and-voltage/1068/2.

Maybe this can be made as a python script that is graphing current values over time using the odrive python interface.

We should also think about how that would be used when we are running the full drivetrain on the real ground. We can't assume that a laptop will be hooked up via usb to an odrive.