It is ODrive Driver package for ROS

Calibration Odrive V3 56V with BLDC HUB Motor

Odrive firmware version 0.5.5

Motorwheel Datasheet:

Installation

Odrive library required

pip install odrive

odrivetool

Output

ODrive control utility v0.5.4

Website: https://odriverobotics.com/

Docs: https://docs.odriverobotics.com/

Forums: https://discourse.odriverobotics.com/

Discord: https://discord.gg/k3ZZ3mS

Github: https://github.com/odriverobotics/ODrive/

Please connect your ODrive.

You can also type help() or quit().

Connected to ODrive 207C39705841 as odrv0

odrv0.config.enable_brake_resistor = True # If there is brake resistor

odrv0.config.brake_resistance = 2  #default resistor value [Ohm]

odrv0.axis0.motor.config.pole_pairs = 15 #Number of pole pairs of motor (Number of permanent magnet poles / 2)

odrv0.axis0.motor.config.resistance_calib_max_voltage = 4 #Hub motors need higher voltage

odrv0.axis0.motor.config.requested_current_range = 25 #Requires config save and reboot

odrv0.axis0.motor.config.current_control_bandwidth = 100

odrv0.axis0.motor.config.torque_constant = 8.27 / <measured KV>  #typical value of KV is 16

odrv0.axis0.encoder.config.mode = ENCODER_MODE_INCREMENTAL  #Encoder type

odrv0.axis0.encoder.config.cpr = 4096 #  4 * ppr

odrv0.axis0.encoder.config.calib_scan_distance = 10 # can be higher 150

odrv0.axis0.encoder.config.bandwidth = 100

odrv0.axis0.controller.config.pos_gain = 1

odrv0.axis0.controller.config.vel_gain = 5

odrv0.axis0.controller.config.vel_integrator_gain = 10

odrv0.axis0.controller.config.vel_limit = 4.3 # max limit in Turns/s

odrv0.axis0.controller.config.control_mode = CONTROL_MODE_VELOCITY_CONTROL

odrv0.axis0.controller.config.vel_ramp_rate = 3 # acceleration measured in turns/s^2

odrv0.axis0.controller.config.input_mode = INPUT_MODE_VEL_RAMP

odrv0.save_configuration()

odrv0.reboot()

odrv0.axis0.requested_state = AXIS_STATE_MOTOR_CALIBRATION  # beep signal must be within 3 seconds. Wait 5 seconds 

odrv0.axis0.motor # Check to see that there is no error and that the phase resistance and inductance are reasonable.

odrv0.axis0.motor.config.pre_calibrated = True # If everything is OK

odrv0.axis0.requested_state = AXIS_STATE_ENCODER_OFFSET_CALIBRATION

odrv0.axis0.encoder.config  # To verify everything went well, check the errors

odrv0.axis0.encoder.config.pre_calibrated = True # If everything is OK

odrv0.axis0.requested_state = AXIS_STATE_ENCODER_OFFSET_CALIBRATION # Closed loop starts

dump_errors(odrv0) # Check errors

odrv0.axis0.controller.input_vel = 2 # velocity commend in turns/s

odrv0.axis0.requested_state = AXIS_STATE_IDLE 

odrv0.axis0.config.startup_encoder_offset_calibration = True

odrv0.axis0.config.startup_closed_loop_control = True

odrv0.save_configuration()

odrv0.reboot()

Axis0 Calibration is ready .Do the same calibration for Axis1