Steering Motor Controller - ODrive
Initial Testing of mjbots moteus controller with raspberry pi
https://github.com/babel-robotics/mjbots_Moteus/blob/main/docs/raspberry_pi.md
CLI tool
pip3 install moteus
Basic info test
moteus -h
moteus -i
Serial console test
moteus -c
conf get id.id
List telemetry channels
tel list
tel get servo_stats
Get the current motor position offset value
conf get motor_position.output.offset
Set the current motor position offset value
conf set motor_position.output.offset -0.4
Run moteus_gui
sudo python3 -m moteus_gui.tview
GUI tool
sudo apt install python3-pyside2* python3-serial python3-can python3-matplotlib python3-qtconsole
sudo pip3 install asyncqt importlib_metadata pyelftools
sudo pip3 install --no-deps moteus moteus_gui
November Notes
https://github.com/mjbots/moteus/blob/main/docs/reference.md
https://github.com/mjbots/moteus/blob/main/docs/getting_started.md
Added udev rules
https://github.com/mjbots/fdcanusb/blob/master/70-fdcanusb.rules
Run GUI or CLI
python3 -m moteus_gui.tview
python3 moteus_tool --console
A command like d pos nan 0 nan can be used to "hold position"
Starting fresh in July 2024
I recently purchased a new moteus r4.11 controllerafter accidentally frying my last one from the moteus dev kit. Referencing the moteus getting_started.mdpage on github. I was able to set some basic config parameters and calibrate the devices for the moteus. It is refreshing to see things moving again.
First I started the GUI and set the following configurations:
1. servopos.position_min: 10
2. servopos.position_max: -10
3. servo.max_current_A: 40
python3 -m moteus_gui.tview
Second I launched the calibrating tool
python3 -m moteus.moteus_tool --target 1 --calibrate
Here is the output after calibrating
This will move the motor, ensure it can spin freely!
Starting calibration process
Testing 0.548V for resistance
Using 0.548 V for resistance and inductance calibration
Calculating winding resistance
0.274V - 5.235A
0.329V - 6.382A
0.383V - 7.368A
0.465V - 8.958A
0.548V - 10.543A
Calibrating |
Storing encoder config
Calculating motor inductance
Calculated inductance: 2.7061918203661112e-05H
Calculated kp/ki: 0.01700350468413393/32.617144037664104
Calculating Kv rating
Testing 0.602V for Kv
0.000V - -0.019Hz
0.151V - 2.427Hz
0.301V - 3.627Hz
0.452V - 4.787Hz
0.602V - 6.035Hz
v_per_hz (pre-gearbox)=0.10409780857098226
Saving to persistent storage
Calibration complete
REPORT: moteus-cal-ADsAP1QwUBQgOTNO-20240707T053905.633576.log
------------------------
{
"timestamp": "2024-07-07 05:39:05.633576",
"device_info": {
"serial_number": "ADsAP1QwUBQgOTNO",
"model": "0",
"git_hash": "1ba9e683e207d792060b45ea435dd6905589a7d4",
"git_dirty": false,
"git_timestamp": 1704573873,
"uuid": "a6f2a76c-d89b-442a-ba72-c22e72c31101"
},
"calibration": {
"invert": false,
"phase_invert": true,
"poles": 14,
"offset": [
0.9291043923982312,
0.9080441376652112,
0.923251210321675,
0.9302735384682055,
0.9209538083401249,
0.9362829160504444,
0.9336180211790873,
0.9162088646671183,
0.9246434017578448,
0.9243608180641886,
0.9119390176439753,
0.9341803220114789,
0.9441491999433136,
0.9345091722948959,
0.9546224644381333,
0.9587009827621329,
0.940866427591365,
0.9424844926740586,
0.9423741494825162,
0.9235825680286207,
0.9329791463628045,
0.9395819222680403,
0.9230719609761023,
0.9374960274030024,
0.9468792430204659,
0.9287872090293436,
0.9265690789435301,
0.9319126340197734,
0.9119536892725523,
0.916217260685877,
0.9284349729012737,
0.9161694481877397,
0.9229000983556694,
0.9322429826765771,
0.9135108888562541,
0.9105339836755743,
0.9188153374905843,
0.8993951983411802,
0.9003032776482336,
0.9195018091414466,
0.9173317960977031,
0.9268154494523038,
0.9456301398966219,
0.9373080148629866,
0.9323385738799804,
0.9479210106497703,
0.9344117173427554,
0.935705686151873,
0.9593096861645075,
0.9561208809738951,
0.9606123295540611,
0.9794030530024259,
0.9655958030423725,
0.9483422603745693,
0.9538860459595291,
0.9382022290073622,
0.9296042697770357,
0.9472156147122485,
0.9489999555065128,
0.9477995316625859,
0.9643512115052546,
0.9561865550020834,
0.9380360368044164,
0.9416474922656203
]
},
"winding_resistance": 0.05191179703134584,
"inductance": 2.7061918203661112e-05,
"pid_dq_kp": 0.01700350468413393,
"pid_dq_ki": 32.617144037664104,
"torque_bw_hz": 100.0,
"encoder_filter_bw_hz": 200.0,
"encoder_filter_kp": 2513.2741228718346,
"encoder_filter_ki": 1579136.7041742974,
"v_per_hz": 0.10409780857098226,
"kv": 288.1905047938025,
"unwrapped_position_scale": 1.0
}