创客基地oDrive X2212配置指令

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以下为《创客基地oDrive第二课 X2212电机配置》所用到的全部指令，为方便配置时使用，特单独列出。

1.1 恢复默认参数
odrv0.erase_configuration()
1.2 主板参数配置
odrv0.config.brake_resistance = 2.0
odrv0.config.dc_bus_undervoltage_trip_level = 8.0
odrv0.config.dc_bus_overvoltage_trip_level = 56.0
odrv0.config.dc_max_positive_current = 20.0
odrv0.config.dc_max_negative_current = -3.0
odrv0.config.max_regen_current = 0
odrv0.save_configuration()
1.3 电机参数配置
odrv0.axis0.motor.config.pole_pairs = 7
odrv0.axis0.motor.config.calibration_current = 5
odrv0.axis0.motor.config.resistance_calib_max_voltage = 2
odrv0.axis0.motor.config.motor_type = MOTOR_TYPE_HIGH_CURRENT
odrv0.axis0.motor.config.current_lim = 15
odrv0.axis0.motor.config.requested_current_range = 20
odrv0.save_configuration()
1.4 编码器参数配置
odrv0.axis0.encoder.config.mode = ENCODER_MODE_INCREMENTAL
odrv0.axis0.encoder.config.cpr = 16384
odrv0.axis0.encoder.config.bandwidth = 3000
odrv0.axis0.config.calibration_lockin.current = 5
odrv0.axis0.config.calibration_lockin.ramp_time = 0.4
odrv0.axis0.config.calibration_lockin.ramp_distance = 3.1415927410125732
odrv0.axis0.config.calibration_lockin.accel = 20
odrv0.axis0.config.calibration_lockin.vel = 40
odrv0.save_configuration()
1.5 控制器参数配置
odrv0.axis0.controller.config.control_mode = CONTROL_MODE_POSITION_CONTROL
odrv0.axis0.controller.config.vel_limit = 50
odrv0.axis0.controller.config.pos_gain = 30
odrv0.axis0.controller.config.vel_gain = 0.02
odrv0.axis0.controller.config.vel_integrator_gain = 0.2
odrv0.axis0.controller.config.input_mode = INPUT_MODE_TRAP_TRAJ
odrv0.axis0.trap_traj.config.vel_limit = 30
odrv0.axis0.trap_traj.config.accel_limit = 5
odrv0.axis0.trap_traj.config.decel_limit = 5
odrv0.save_configuration()
odrv0.reboot()
1.6 测试参数配置
odrv0.axis0.requested_state = AXIS_STATE_MOTOR_CALIBRATION
odrv0.axis0.motor.config.pre_calibrated = True
odrv0.axis0.requested_state = AXIS_STATE_ENCODER_OFFSET_CALIBRATION
odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
odrv0.axis0.config.startup_encoder_offset_calibration = True
odrv0.axis0.config.startup_closed_loop_control = True
odrv0.save_configuration()
odrv0.reboot()

电机控制测试
odrv0.axis0.controller.input_pos = 50
odrv0.axis0.controller.input_pos = 0
odrv0.axis0.requested_state = AXIS_STATE_IDLE

绘图仪测试
quit
odrivetool liveplotter