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+:10BE040002020201000904000001020201000524EB +:10BE14000010010524010001042402020524060087 +:10BE2400010705820308001009040100020A00004A +:10BE340000070501024000000705810240000008D8 +:10BE44000B020100000006090402000200010000C8 +:10BE540007050302400000070583024000000000BC +:10BE64000A060002000000400100000010F9002052 +:10BE740000F8012000004041000000000A0000001A +:10BE8400004000000002000000000C0800000C0844 +:10BE9400000000000B000000004000000002000051 +:10BEA40000000E0800000E0841630308890300081F +:04BEB400000000008A +:040000050800CE0D14 +:00000001FF diff --git a/firmware/ODrive/README.md b/firmware/ODrive/README.md index 59e8413..8ae25a3 100644 --- a/firmware/ODrive/README.md +++ b/firmware/ODrive/README.md @@ -1,6 +1,11 @@ ## ODrive Usage On Hangprinter -Use stock ODrive Firmware version 0.5.4 or later. +The changes in here require that you use the custom hex file included here, for now. + +The changes will be included into stock ODriveFirmware later. See pull request: +https://github.com/odriverobotics/ODrive/pull/680 + +Probably in stock ODrive Firmware version 0.5.5 or later. Use a USB isolator between your laptop and your ODrive. diff --git a/firmware/ODrive/configure_odrive.py b/firmware/ODrive/configure_odrive.py index a655af6..aa41956 100644 --- a/firmware/ODrive/configure_odrive.py +++ b/firmware/ODrive/configure_odrive.py @@ -8,6 +8,8 @@ # Later ODrive Firmware versions (0.5.2 onwards) might disable break resistor by default # So you need to set a boolean to true to enable it again: odrv0.config.enable_brake_resistor = True; + odrv0.axis0.controller.config.anticogging.anticogging_enabled = False + odrv0.axis1.controller.config.anticogging.anticogging_enabled = False #odrv0.axis0.motor.config.pole_pairs = 7 # Default #odrv0.axis0.controller.torque_setpoint = 0 # Default. Torque mode with zero torque @@ -88,14 +90,18 @@ odrv0.axis0.config.step_gpio_pin = 1 odrv0.axis0.config.dir_gpio_pin = 2 -odrv0.axis0.controller.config.steps_per_circular_range = 400 # 25*16 (on newer fw versions) #odrv0.axis0.config.turns_per_step = 0.0025 # 1/(25*16) = 0.0025 # on older fw versions +odrv0.axis0.controller.config.circular_setpoints = False +odrv0.axis0.controller.config.circular_setpoint_range = 10000.0 +odrv0.axis0.controller.config.steps_per_circular_range = 400*odrv0.axis0.controller.config.circular_setpoint_range # 25*16 = 400 (set on newer fw versions) odrv0.axis0.config.enable_step_dir = True #odrv0.axis1.config.step_gpio_pin = 7 # Default #odrv0.axis1.config.dir_gpio_pin = 8 # Default -odrv0.axis1.controller.config.steps_per_circular_range = 400 # 25*16 #odrv0.axis1.config.turns_per_step = 0.0025 # 1/(25*16) = 0.0025 +odrv0.axis1.controller.config.circular_setpoints = False +odrv0.axis1.controller.config.circular_setpoint_range = 10000.0 +odrv0.axis1.controller.config.steps_per_circular_range = 400*odrv0.axis1.controller.config.circular_setpoint_range # 25*16 = 400 (set on newer fw versions) odrv0.axis1.config.enable_step_dir = True odrv0.save_configuration() diff --git a/firmware/ODrive/odrive-config-AB.json b/firmware/ODrive/odrive-config-AB.json index d42147b..8768fce 100644 --- a/firmware/ODrive/odrive-config-AB.json +++ b/firmware/ODrive/odrive-config-AB.json @@ -1 +1 @@ -{"axis0": {"acim_estimator": {"config": {"slip_velocity": 14.706000328063965}}, "config": {"dir_gpio_pin": 2, "enable_sensorless_mode": false, "enable_step_dir": true, "enable_watchdog": false, "startup_closed_loop_control": true, "startup_encoder_index_search": true, "startup_encoder_offset_calibration": false, "startup_homing": false, "startup_motor_calibration": false, "step_dir_always_on": false, "step_gpio_pin": 1, "watchdog_timeout": 0.0, "calibration_lockin": {"accel": 20.0, "current": 10.0, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 40.0}, "can": {"encoder_rate_ms": 10, "heartbeat_rate_ms": 100, "is_extended": false, "node_id": 40}, "general_lockin": {"accel": 20.0, "current": 10.0, "finish_distance": 100.0, "finish_on_distance": false, "finish_on_enc_idx": false, "finish_on_vel": false, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 40.0}, "sensorless_ramp": {"accel": 200.0, "current": 10.0, "finish_distance": 100.0, "finish_on_distance": false, "finish_on_enc_idx": false, "finish_on_vel": true, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 400.0}}, "controller": {"config": {"axis_to_mirror": 255, "circular_setpoint_range": 1.0, "circular_setpoints": false, "control_mode": 3, "electrical_power_bandwidth": 20.0, "enable_gain_scheduling": false, "enable_overspeed_error": true, "enable_torque_mode_vel_limit": true, "enable_vel_limit": true, "gain_scheduling_width": 10.0, "homing_speed": 0.25, "inertia": 0.0, "input_filter_bandwidth": 2.0, "input_mode": 1, "load_encoder_axis": 0, "mechanical_power_bandwidth": 20.0, "mirror_ratio": 1.0, "pos_gain": 47.0, "spinout_electrical_power_threshold": 10.0, "spinout_mechanical_power_threshold": -10.0, "steps_per_circular_range": 400, "torque_mirror_ratio": 0.0, "torque_ramp_rate": 0.009999999776482582, "vel_gain": 0.09000000357627869, "vel_integrator_gain": 0.20000000298023224, "vel_integrator_limit": Infinity, "vel_limit": 58.0, "vel_limit_tolerance": 1.2000000476837158, "vel_ramp_rate": 1.0, "anticogging": {"anticogging_enabled": true, "calib_anticogging": false, "calib_pos_threshold": 1.0, "calib_vel_threshold": 1.0, "cogging_ratio": 1.0, "index": 0, "pre_calibrated": true}}}, "encoder": {"config": {"abs_spi_cs_gpio_pin": 1, "bandwidth": 1000.0, "calib_range": 0.019999999552965164, "calib_scan_distance": 50.26548385620117, "calib_scan_omega": 12.566370964050293, "cpr": 8192, "direction": 1, "enable_phase_interpolation": true, "find_idx_on_lockin_only": false, "hall_polarity_calibrated": false, "hall_polarity": 0, "ignore_illegal_hall_state": false, "index_offset": 0.0, "mode": 0, "phase_offset_float": 0.8696712255477905, "phase_offset": 5079, "pre_calibrated": true, "sincos_gpio_pin_cos": 4, "sincos_gpio_pin_sin": 3, "use_index_offset": true, "use_index": true}}, "max_endstop": {"config": {"debounce_ms": 50, "enabled": false, "gpio_num": 0, "is_active_high": false, "offset": 0.0}}, "mechanical_brake": {"config": {"gpio_num": 0, "is_active_low": true}}, "min_endstop": {"config": {"debounce_ms": 50, "enabled": false, "gpio_num": 0, "is_active_high": false, "offset": 0.0}}, "motor": {"config": {"I_bus_hard_max": Infinity, "I_bus_hard_min": -Infinity, "I_leak_max": 0.10000000149011612, "R_wL_FF_enable": false, "acim_autoflux_attack_gain": 10.0, "acim_autoflux_decay_gain": 1.0, "acim_autoflux_enable": false, "acim_autoflux_min_Id": 10.0, "acim_gain_min_flux": 10.0, "bEMF_FF_enable": false, "calibration_current": 20.0, "current_control_bandwidth": 1000.0, "current_lim_margin": 18.0, "current_lim": 20.0, "dc_calib_tau": 0.20000000298023224, "inverter_temp_limit_lower": 100.0, "inverter_temp_limit_upper": 120.0, "motor_type": 0, "phase_inductance": 2.3325977963395417e-05, "phase_resistance": 0.03735048323869705, "pole_pairs": 7, "pre_calibrated": true, "requested_current_range": 60.0, "resistance_calib_max_voltage": 2.0, "torque_constant": 0.025060605257749557, "torque_lim": Infinity}, "fet_thermistor": {"config": {"enabled": true, "temp_limit_lower": 100.0, "temp_limit_upper": 120.0}}, "motor_thermistor": {"config": {"enabled": false, "gpio_pin": 4, "poly_coefficient_0": 0.0, "poly_coefficient_1": 0.0, "poly_coefficient_2": 0.0, "poly_coefficient_3": 0.0, "temp_limit_lower": 100.0, "temp_limit_upper": 120.0}}}, "sensorless_estimator": {"config": {"observer_gain": 1000.0, "pll_bandwidth": 1000.0, "pm_flux_linkage": 0.0015800000401213765}}, "trap_traj": {"config": {"accel_limit": 0.5, "decel_limit": 0.5, "vel_limit": 2.0}}}, "axis1": {"acim_estimator": {"config": {"slip_velocity": 14.706000328063965}}, "config": {"dir_gpio_pin": 8, "enable_sensorless_mode": false, "enable_step_dir": true, "enable_watchdog": false, "startup_closed_loop_control": true, "startup_encoder_index_search": true, "startup_encoder_offset_calibration": false, "startup_homing": false, "startup_motor_calibration": false, "step_dir_always_on": false, "step_gpio_pin": 7, "watchdog_timeout": 0.0, "calibration_lockin": {"accel": 20.0, "current": 10.0, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 40.0}, "can": {"encoder_rate_ms": 10, "heartbeat_rate_ms": 100, "is_extended": false, "node_id": 41}, "general_lockin": {"accel": 20.0, "current": 10.0, "finish_distance": 100.0, "finish_on_distance": false, "finish_on_enc_idx": false, "finish_on_vel": false, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 40.0}, "sensorless_ramp": {"accel": 200.0, "current": 10.0, "finish_distance": 100.0, "finish_on_distance": false, "finish_on_enc_idx": false, "finish_on_vel": true, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 400.0}}, "controller": {"config": {"axis_to_mirror": 255, "circular_setpoint_range": 1.0, "circular_setpoints": false, "control_mode": 3, "electrical_power_bandwidth": 20.0, "enable_gain_scheduling": false, "enable_overspeed_error": true, "enable_torque_mode_vel_limit": true, "enable_vel_limit": true, "gain_scheduling_width": 10.0, "homing_speed": 0.25, "inertia": 0.0, "input_filter_bandwidth": 2.0, "input_mode": 1, "load_encoder_axis": 1, "mechanical_power_bandwidth": 20.0, "mirror_ratio": 1.0, "pos_gain": 47.0, "spinout_electrical_power_threshold": 10.0, "spinout_mechanical_power_threshold": -10.0, "steps_per_circular_range": 400, "torque_mirror_ratio": 0.0, "torque_ramp_rate": 0.009999999776482582, "vel_gain": 0.09000000357627869, "vel_integrator_gain": 0.20000000298023224, "vel_integrator_limit": Infinity, "vel_limit": 58.0, "vel_limit_tolerance": 1.2000000476837158, "vel_ramp_rate": 1.0, "anticogging": {"anticogging_enabled": true, "calib_anticogging": false, "calib_pos_threshold": 1.0, "calib_vel_threshold": 1.0, "cogging_ratio": 1.0, "index": 0, "pre_calibrated": true}}}, "encoder": {"config": {"abs_spi_cs_gpio_pin": 1, "bandwidth": 1000.0, "calib_range": 0.019999999552965164, "calib_scan_distance": 50.26548385620117, "calib_scan_omega": 12.566370964050293, "cpr": 8192, "direction": 1, "enable_phase_interpolation": true, "find_idx_on_lockin_only": false, "hall_polarity_calibrated": false, "hall_polarity": 0, "ignore_illegal_hall_state": false, "index_offset": 0.0, "mode": 0, "phase_offset_float": 0.7762845754623413, "phase_offset": 5042, "pre_calibrated": true, "sincos_gpio_pin_cos": 4, "sincos_gpio_pin_sin": 3, "use_index_offset": true, "use_index": true}}, "max_endstop": {"config": {"debounce_ms": 50, "enabled": false, "gpio_num": 0, "is_active_high": false, "offset": 0.0}}, "mechanical_brake": {"config": {"gpio_num": 0, "is_active_low": true}}, "min_endstop": {"config": {"debounce_ms": 50, "enabled": false, "gpio_num": 0, "is_active_high": false, "offset": 0.0}}, "motor": {"config": {"I_bus_hard_max": Infinity, "I_bus_hard_min": -Infinity, "I_leak_max": 0.10000000149011612, "R_wL_FF_enable": false, "acim_autoflux_attack_gain": 10.0, "acim_autoflux_decay_gain": 1.0, "acim_autoflux_enable": false, "acim_autoflux_min_Id": 10.0, "acim_gain_min_flux": 10.0, "bEMF_FF_enable": false, "calibration_current": 20.0, "current_control_bandwidth": 1000.0, "current_lim_margin": 18.0, "current_lim": 20.0, "dc_calib_tau": 0.20000000298023224, "inverter_temp_limit_lower": 100.0, "inverter_temp_limit_upper": 120.0, "motor_type": 0, "phase_inductance": 2.2373302272171713e-05, "phase_resistance": 0.038598932325839996, "pole_pairs": 7, "pre_calibrated": true, "requested_current_range": 60.0, "resistance_calib_max_voltage": 2.0, "torque_constant": 0.025060605257749557, "torque_lim": Infinity}, "fet_thermistor": {"config": {"enabled": true, "temp_limit_lower": 100.0, "temp_limit_upper": 120.0}}, "motor_thermistor": {"config": {"enabled": false, "gpio_pin": 4, "poly_coefficient_0": 0.0, "poly_coefficient_1": 0.0, "poly_coefficient_2": 0.0, "poly_coefficient_3": 0.0, "temp_limit_lower": 100.0, "temp_limit_upper": 120.0}}}, "sensorless_estimator": {"config": {"observer_gain": 1000.0, "pll_bandwidth": 1000.0, "pm_flux_linkage": 0.0015800000401213765}}, "trap_traj": {"config": {"accel_limit": 0.5, "decel_limit": 0.5, "vel_limit": 2.0}}}, "can": {"config": {"baud_rate": 250000, "protocol": 1}}, "config": {"brake_resistance": 0.4699999988079071, "dc_bus_overvoltage_ramp_end": 25.68000030517578, "dc_bus_overvoltage_ramp_start": 25.68000030517578, "dc_bus_overvoltage_trip_level": 25.68000030517578, "dc_bus_undervoltage_trip_level": 8.0, "dc_max_negative_current": -0.009999999776482582, "dc_max_positive_current": Infinity, "enable_brake_resistor": true, "enable_can_a": true, "enable_dc_bus_overvoltage_ramp": false, "enable_i2c_a": false, "enable_uart_a": false, "enable_uart_b": false, "enable_uart_c": false, "error_gpio_pin": 0, "gpio10_mode": 11, "gpio11_mode": 2, "gpio12_mode": 12, "gpio13_mode": 12, "gpio14_mode": 2, "gpio15_mode": 7, "gpio16_mode": 7, "gpio1_mode": 4, "gpio2_mode": 4, "gpio3_mode": 3, "gpio4_mode": 3, "gpio5_mode": 3, "gpio6_mode": 0, "gpio7_mode": 0, "gpio8_mode": 0, "gpio9_mode": 11, "max_regen_current": 0.0, "uart0_protocol": 3, "uart1_protocol": 3, "uart2_protocol": 3, "uart_a_baudrate": 115200, "uart_b_baudrate": 115200, "uart_c_baudrate": 115200, "usb_cdc_protocol": 3, "gpio1_pwm_mapping": {"endpoint": null, "max": 0.0, "min": 0.0}, "gpio2_pwm_mapping": {"endpoint": null, "max": 0.0, "min": 0.0}, "gpio3_analog_mapping": {"endpoint": null, "max": 0.0, "min": 0.0}, "gpio3_pwm_mapping": {"endpoint": null, "max": 0.0, "min": 0.0}, "gpio4_analog_mapping": {"endpoint": null, "max": 0.0, "min": 0.0}, "gpio4_pwm_mapping": {"endpoint": null, "max": 0.0, "min": 0.0}}} +{"axis0": {"acim_estimator": {"config": {"slip_velocity": 14.706000328063965}}, "config": {"dir_gpio_pin": 2, "enable_sensorless_mode": false, "enable_step_dir": true, "enable_watchdog": false, "startup_closed_loop_control": true, "startup_encoder_index_search": true, "startup_encoder_offset_calibration": false, "startup_homing": false, "startup_motor_calibration": false, "step_dir_always_on": false, "step_gpio_pin": 1, "watchdog_timeout": 0.0, "calibration_lockin": {"accel": 20.0, "current": 10.0, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 40.0}, "can": {"encoder_rate_ms": 10, "heartbeat_rate_ms": 100, "is_extended": false, "node_id": 40}, "general_lockin": {"accel": 20.0, "current": 10.0, "finish_distance": 100.0, "finish_on_distance": false, "finish_on_enc_idx": false, "finish_on_vel": false, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 40.0}, "sensorless_ramp": {"accel": 200.0, "current": 10.0, "finish_distance": 100.0, "finish_on_distance": false, "finish_on_enc_idx": false, "finish_on_vel": true, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 400.0}}, "controller": {"config": {"axis_to_mirror": 255, "circular_setpoint_range": 10000.0, "circular_setpoints": false, "control_mode": 3, "electrical_power_bandwidth": 20.0, "enable_gain_scheduling": false, "enable_overspeed_error": true, "enable_torque_mode_vel_limit": true, "enable_vel_limit": true, "gain_scheduling_width": 10.0, "homing_speed": 0.25, "inertia": 0.0, "input_filter_bandwidth": 2.0, "input_mode": 1, "load_encoder_axis": 0, "mechanical_power_bandwidth": 20.0, "mirror_ratio": 1.0, "pos_gain": 47.0, "spinout_electrical_power_threshold": 10.0, "spinout_mechanical_power_threshold": -10.0, "steps_per_circular_range": 4000000, "torque_mirror_ratio": 0.0, "torque_ramp_rate": 0.009999999776482582, "vel_gain": 0.09000000357627869, "vel_integrator_gain": 0.20000000298023224, "vel_integrator_limit": Infinity, "vel_limit": 58.0, "vel_limit_tolerance": 1.2000000476837158, "vel_ramp_rate": 1.0, "anticogging": {"anticogging_enabled": false, "calib_anticogging": false, "calib_pos_threshold": 1.0, "calib_vel_threshold": 1.0, "cogging_ratio": 1.0, "index": 0, "pre_calibrated": false}}}, "encoder": {"config": {"abs_spi_cs_gpio_pin": 1, "bandwidth": 1000.0, "calib_range": 0.019999999552965164, "calib_scan_distance": 50.26548385620117, "calib_scan_omega": 12.566370964050293, "cpr": 8192, "direction": 1, "enable_phase_interpolation": true, "find_idx_on_lockin_only": false, "hall_polarity_calibrated": false, "hall_polarity": 0, "ignore_illegal_hall_state": false, "index_offset": 0.0, "mode": 0, "phase_offset_float": 0.56825852394104, "phase_offset": 4229, "pre_calibrated": false, "sincos_gpio_pin_cos": 4, "sincos_gpio_pin_sin": 3, "use_index_offset": true, "use_index": true}}, "max_endstop": {"config": {"debounce_ms": 50, "enabled": false, "gpio_num": 0, "is_active_high": false, "offset": 0.0}}, "mechanical_brake": {"config": {"gpio_num": 0, "is_active_low": true}}, "min_endstop": {"config": {"debounce_ms": 50, "enabled": false, "gpio_num": 0, "is_active_high": false, "offset": 0.0}}, "motor": {"config": {"I_bus_hard_max": Infinity, "I_bus_hard_min": -Infinity, "I_leak_max": 0.10000000149011612, "R_wL_FF_enable": false, "acim_autoflux_attack_gain": 10.0, "acim_autoflux_decay_gain": 1.0, "acim_autoflux_enable": false, "acim_autoflux_min_Id": 10.0, "acim_gain_min_flux": 10.0, "bEMF_FF_enable": false, "calibration_current": 20.0, "current_control_bandwidth": 1000.0, "current_lim_margin": 18.0, "current_lim": 20.0, "dc_calib_tau": 0.20000000298023224, "inverter_temp_limit_lower": 100.0, "inverter_temp_limit_upper": 120.0, "motor_type": 0, "phase_inductance": 2.3265618438017555e-05, "phase_resistance": 0.03775078058242798, "pole_pairs": 7, "pre_calibrated": true, "requested_current_range": 60.0, "resistance_calib_max_voltage": 2.0, "torque_constant": 0.025060605257749557, "torque_lim": Infinity}, "fet_thermistor": {"config": {"enabled": true, "temp_limit_lower": 100.0, "temp_limit_upper": 120.0}}, "motor_thermistor": {"config": {"enabled": false, "gpio_pin": 4, "poly_coefficient_0": 0.0, "poly_coefficient_1": 0.0, "poly_coefficient_2": 0.0, "poly_coefficient_3": 0.0, "temp_limit_lower": 100.0, "temp_limit_upper": 120.0}}}, "sensorless_estimator": {"config": {"observer_gain": 1000.0, "pll_bandwidth": 1000.0, "pm_flux_linkage": 0.0015800000401213765}}, "trap_traj": {"config": {"accel_limit": 0.5, "decel_limit": 0.5, "vel_limit": 2.0}}}, "axis1": {"acim_estimator": {"config": {"slip_velocity": 14.706000328063965}}, "config": {"dir_gpio_pin": 8, "enable_sensorless_mode": false, "enable_step_dir": true, "enable_watchdog": false, "startup_closed_loop_control": true, "startup_encoder_index_search": true, "startup_encoder_offset_calibration": false, "startup_homing": false, "startup_motor_calibration": false, "step_dir_always_on": false, "step_gpio_pin": 7, "watchdog_timeout": 0.0, "calibration_lockin": {"accel": 20.0, "current": 10.0, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 40.0}, "can": {"encoder_rate_ms": 10, "heartbeat_rate_ms": 100, "is_extended": false, "node_id": 41}, "general_lockin": {"accel": 20.0, "current": 10.0, "finish_distance": 100.0, "finish_on_distance": false, "finish_on_enc_idx": false, "finish_on_vel": false, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 40.0}, "sensorless_ramp": {"accel": 200.0, "current": 10.0, "finish_distance": 100.0, "finish_on_distance": false, "finish_on_enc_idx": false, "finish_on_vel": true, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 400.0}}, "controller": {"config": {"axis_to_mirror": 255, "circular_setpoint_range": 10000.0, "circular_setpoints": false, "control_mode": 3, "electrical_power_bandwidth": 20.0, "enable_gain_scheduling": false, "enable_overspeed_error": true, "enable_torque_mode_vel_limit": true, "enable_vel_limit": true, "gain_scheduling_width": 10.0, "homing_speed": 0.25, "inertia": 0.0, "input_filter_bandwidth": 2.0, "input_mode": 1, "load_encoder_axis": 1, "mechanical_power_bandwidth": 20.0, "mirror_ratio": 1.0, "pos_gain": 47.0, "spinout_electrical_power_threshold": 10.0, "spinout_mechanical_power_threshold": -10.0, "steps_per_circular_range": 4000000, "torque_mirror_ratio": 0.0, "torque_ramp_rate": 0.009999999776482582, "vel_gain": 0.09000000357627869, "vel_integrator_gain": 0.20000000298023224, "vel_integrator_limit": Infinity, "vel_limit": 58.0, "vel_limit_tolerance": 1.2000000476837158, "vel_ramp_rate": 1.0, "anticogging": {"anticogging_enabled": false, "calib_anticogging": false, "calib_pos_threshold": 1.0, "calib_vel_threshold": 1.0, "cogging_ratio": 1.0, "index": 0, "pre_calibrated": false}}}, "encoder": {"config": {"abs_spi_cs_gpio_pin": 1, "bandwidth": 1000.0, "calib_range": 0.019999999552965164, "calib_scan_distance": 50.26548385620117, "calib_scan_omega": 12.566370964050293, "cpr": 8192, "direction": 1, "enable_phase_interpolation": true, "find_idx_on_lockin_only": false, "hall_polarity_calibrated": false, "hall_polarity": 0, "ignore_illegal_hall_state": false, "index_offset": 0.0, "mode": 0, "phase_offset_float": 1.0004374980926514, "phase_offset": 5042, "pre_calibrated": false, "sincos_gpio_pin_cos": 4, "sincos_gpio_pin_sin": 3, "use_index_offset": true, "use_index": true}}, "max_endstop": {"config": {"debounce_ms": 50, "enabled": false, "gpio_num": 0, "is_active_high": false, "offset": 0.0}}, "mechanical_brake": {"config": {"gpio_num": 0, "is_active_low": true}}, "min_endstop": {"config": {"debounce_ms": 50, "enabled": false, "gpio_num": 0, "is_active_high": false, "offset": 0.0}}, "motor": {"config": {"I_bus_hard_max": Infinity, "I_bus_hard_min": -Infinity, "I_leak_max": 0.10000000149011612, "R_wL_FF_enable": false, "acim_autoflux_attack_gain": 10.0, "acim_autoflux_decay_gain": 1.0, "acim_autoflux_enable": false, "acim_autoflux_min_Id": 10.0, "acim_gain_min_flux": 10.0, "bEMF_FF_enable": false, "calibration_current": 20.0, "current_control_bandwidth": 1000.0, "current_lim_margin": 18.0, "current_lim": 20.0, "dc_calib_tau": 0.20000000298023224, "inverter_temp_limit_lower": 100.0, "inverter_temp_limit_upper": 120.0, "motor_type": 0, "phase_inductance": 2.245036193926353e-05, "phase_resistance": 0.03866796940565109, "pole_pairs": 7, "pre_calibrated": true, "requested_current_range": 60.0, "resistance_calib_max_voltage": 2.0, "torque_constant": 0.025060605257749557, "torque_lim": Infinity}, "fet_thermistor": {"config": {"enabled": true, "temp_limit_lower": 100.0, "temp_limit_upper": 120.0}}, "motor_thermistor": {"config": {"enabled": false, "gpio_pin": 4, "poly_coefficient_0": 0.0, "poly_coefficient_1": 0.0, "poly_coefficient_2": 0.0, "poly_coefficient_3": 0.0, "temp_limit_lower": 100.0, "temp_limit_upper": 120.0}}}, "sensorless_estimator": {"config": {"observer_gain": 1000.0, "pll_bandwidth": 1000.0, "pm_flux_linkage": 0.0015800000401213765}}, "trap_traj": {"config": {"accel_limit": 0.5, "decel_limit": 0.5, "vel_limit": 2.0}}}, "can": {"config": {"baud_rate": 250000, "protocol": 1}}, "config": {"brake_resistance": 0.4699999988079071, "dc_bus_overvoltage_ramp_end": 25.68000030517578, "dc_bus_overvoltage_ramp_start": 25.68000030517578, "dc_bus_overvoltage_trip_level": 25.68000030517578, "dc_bus_undervoltage_trip_level": 8.0, "dc_max_negative_current": -0.009999999776482582, "dc_max_positive_current": Infinity, "enable_brake_resistor": true, "enable_can_a": true, "enable_dc_bus_overvoltage_ramp": false, "enable_i2c_a": false, "enable_uart_a": false, "enable_uart_b": false, "enable_uart_c": false, "error_gpio_pin": 0, "gpio10_mode": 11, "gpio11_mode": 2, "gpio12_mode": 12, "gpio13_mode": 12, "gpio14_mode": 2, "gpio15_mode": 7, "gpio16_mode": 7, "gpio1_mode": 4, "gpio2_mode": 4, "gpio3_mode": 3, "gpio4_mode": 3, "gpio5_mode": 3, "gpio6_mode": 0, "gpio7_mode": 0, "gpio8_mode": 0, "gpio9_mode": 11, "max_regen_current": 0.0, "uart0_protocol": 3, "uart1_protocol": 3, "uart2_protocol": 3, "uart_a_baudrate": 115200, "uart_b_baudrate": 115200, "uart_c_baudrate": 115200, "usb_cdc_protocol": 3, "gpio1_pwm_mapping": {"endpoint": null, "max": 0.0, "min": 0.0}, "gpio2_pwm_mapping": {"endpoint": null, "max": 0.0, "min": 0.0}, "gpio3_analog_mapping": {"endpoint": null, "max": 0.0, "min": 0.0}, "gpio3_pwm_mapping": {"endpoint": null, "max": 0.0, "min": 0.0}, "gpio4_analog_mapping": {"endpoint": null, "max": 0.0, "min": 0.0}, "gpio4_pwm_mapping": {"endpoint": null, "max": 0.0, "min": 0.0}}} diff --git a/firmware/ODrive/odrive-config-CD.json b/firmware/ODrive/odrive-config-CD.json index f23cc31..ec988f6 100644 --- a/firmware/ODrive/odrive-config-CD.json +++ b/firmware/ODrive/odrive-config-CD.json @@ -1 +1 @@ -{"axis0": {"acim_estimator": {"config": {"slip_velocity": 14.706000328063965}}, "config": {"dir_gpio_pin": 2, "enable_sensorless_mode": false, "enable_step_dir": true, "enable_watchdog": false, "startup_closed_loop_control": true, "startup_encoder_index_search": true, "startup_encoder_offset_calibration": false, "startup_homing": false, "startup_motor_calibration": false, "step_dir_always_on": false, "step_gpio_pin": 1, "watchdog_timeout": 0.0, "calibration_lockin": {"accel": 20.0, "current": 10.0, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 40.0}, "can": {"encoder_rate_ms": 10, "heartbeat_rate_ms": 100, "is_extended": false, "node_id": 42}, "general_lockin": {"accel": 20.0, "current": 10.0, "finish_distance": 100.0, "finish_on_distance": false, "finish_on_enc_idx": false, "finish_on_vel": false, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 40.0}, "sensorless_ramp": {"accel": 200.0, "current": 10.0, "finish_distance": 100.0, "finish_on_distance": false, "finish_on_enc_idx": false, "finish_on_vel": true, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 400.0}}, "controller": {"config": {"axis_to_mirror": 255, "circular_setpoint_range": 1.0, "circular_setpoints": false, "control_mode": 3, "electrical_power_bandwidth": 20.0, "enable_gain_scheduling": false, "enable_overspeed_error": true, "enable_torque_mode_vel_limit": true, "enable_vel_limit": true, "gain_scheduling_width": 10.0, "homing_speed": 0.25, "inertia": 0.0, "input_filter_bandwidth": 2.0, "input_mode": 1, "load_encoder_axis": 0, "mechanical_power_bandwidth": 20.0, "mirror_ratio": 1.0, "pos_gain": 47.0, "spinout_electrical_power_threshold": 10.0, "spinout_mechanical_power_threshold": -10.0, "steps_per_circular_range": 400, "torque_mirror_ratio": 0.0, "torque_ramp_rate": 0.009999999776482582, "vel_gain": 0.09000000357627869, "vel_integrator_gain": 0.20000000298023224, "vel_integrator_limit": Infinity, "vel_limit": 58.0, "vel_limit_tolerance": 1.2000000476837158, "vel_ramp_rate": 1.0, "anticogging": {"anticogging_enabled": true, "calib_anticogging": false, "calib_pos_threshold": 1.0, "calib_vel_threshold": 1.0, "cogging_ratio": 1.0, "index": 0, "pre_calibrated": true}}}, "encoder": {"config": {"abs_spi_cs_gpio_pin": 1, "bandwidth": 1000.0, "calib_range": 0.019999999552965164, "calib_scan_distance": 50.26548385620117, "calib_scan_omega": 12.566370964050293, "cpr": 8192, "direction": 1, "enable_phase_interpolation": true, "find_idx_on_lockin_only": false, "hall_polarity_calibrated": false, "hall_polarity": 0, "ignore_illegal_hall_state": false, "index_offset": 0.0, "mode": 0, "phase_offset_float": 0.8696712255477905, "phase_offset": 5079, "pre_calibrated": true, "sincos_gpio_pin_cos": 4, "sincos_gpio_pin_sin": 3, "use_index_offset": true, "use_index": true}}, "max_endstop": {"config": {"debounce_ms": 50, "enabled": false, "gpio_num": 0, "is_active_high": false, "offset": 0.0}}, "mechanical_brake": {"config": {"gpio_num": 0, "is_active_low": true}}, "min_endstop": {"config": {"debounce_ms": 50, "enabled": false, "gpio_num": 0, "is_active_high": false, "offset": 0.0}}, "motor": {"config": {"I_bus_hard_max": Infinity, "I_bus_hard_min": -Infinity, "I_leak_max": 0.10000000149011612, "R_wL_FF_enable": false, "acim_autoflux_attack_gain": 10.0, "acim_autoflux_decay_gain": 1.0, "acim_autoflux_enable": false, "acim_autoflux_min_Id": 10.0, "acim_gain_min_flux": 10.0, "bEMF_FF_enable": false, "calibration_current": 20.0, "current_control_bandwidth": 1000.0, "current_lim_margin": 18.0, "current_lim": 20.0, "dc_calib_tau": 0.20000000298023224, "inverter_temp_limit_lower": 100.0, "inverter_temp_limit_upper": 120.0, "motor_type": 0, "phase_inductance": 2.3325977963395417e-05, "phase_resistance": 0.03735048323869705, "pole_pairs": 7, "pre_calibrated": true, "requested_current_range": 60.0, "resistance_calib_max_voltage": 2.0, "torque_constant": 0.025060605257749557, "torque_lim": Infinity}, "fet_thermistor": {"config": {"enabled": true, "temp_limit_lower": 100.0, "temp_limit_upper": 120.0}}, "motor_thermistor": {"config": {"enabled": false, "gpio_pin": 4, "poly_coefficient_0": 0.0, "poly_coefficient_1": 0.0, "poly_coefficient_2": 0.0, "poly_coefficient_3": 0.0, "temp_limit_lower": 100.0, "temp_limit_upper": 120.0}}}, "sensorless_estimator": {"config": {"observer_gain": 1000.0, "pll_bandwidth": 1000.0, "pm_flux_linkage": 0.0015800000401213765}}, "trap_traj": {"config": {"accel_limit": 0.5, "decel_limit": 0.5, "vel_limit": 2.0}}}, "axis1": {"acim_estimator": {"config": {"slip_velocity": 14.706000328063965}}, "config": {"dir_gpio_pin": 8, "enable_sensorless_mode": false, "enable_step_dir": true, "enable_watchdog": false, "startup_closed_loop_control": true, "startup_encoder_index_search": true, "startup_encoder_offset_calibration": false, "startup_homing": false, "startup_motor_calibration": false, "step_dir_always_on": false, "step_gpio_pin": 7, "watchdog_timeout": 0.0, "calibration_lockin": {"accel": 20.0, "current": 10.0, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 40.0}, "can": {"encoder_rate_ms": 10, "heartbeat_rate_ms": 100, "is_extended": false, "node_id": 43}, "general_lockin": {"accel": 20.0, "current": 10.0, "finish_distance": 100.0, "finish_on_distance": false, "finish_on_enc_idx": false, "finish_on_vel": false, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 40.0}, "sensorless_ramp": {"accel": 200.0, "current": 10.0, "finish_distance": 100.0, "finish_on_distance": false, "finish_on_enc_idx": false, "finish_on_vel": true, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 400.0}}, "controller": {"config": {"axis_to_mirror": 255, "circular_setpoint_range": 1.0, "circular_setpoints": false, "control_mode": 3, "electrical_power_bandwidth": 20.0, "enable_gain_scheduling": false, "enable_overspeed_error": true, "enable_torque_mode_vel_limit": true, "enable_vel_limit": true, "gain_scheduling_width": 10.0, "homing_speed": 0.25, "inertia": 0.0, "input_filter_bandwidth": 2.0, "input_mode": 1, "load_encoder_axis": 1, "mechanical_power_bandwidth": 20.0, "mirror_ratio": 1.0, "pos_gain": 47.0, "spinout_electrical_power_threshold": 10.0, "spinout_mechanical_power_threshold": -10.0, "steps_per_circular_range": 400, "torque_mirror_ratio": 0.0, "torque_ramp_rate": 0.009999999776482582, "vel_gain": 0.09000000357627869, "vel_integrator_gain": 0.20000000298023224, "vel_integrator_limit": Infinity, "vel_limit": 58.0, "vel_limit_tolerance": 1.2000000476837158, "vel_ramp_rate": 1.0, "anticogging": {"anticogging_enabled": true, "calib_anticogging": false, "calib_pos_threshold": 1.0, "calib_vel_threshold": 1.0, "cogging_ratio": 1.0, "index": 0, "pre_calibrated": true}}}, "encoder": {"config": {"abs_spi_cs_gpio_pin": 1, "bandwidth": 1000.0, "calib_range": 0.019999999552965164, "calib_scan_distance": 50.26548385620117, "calib_scan_omega": 12.566370964050293, "cpr": 8192, "direction": 1, "enable_phase_interpolation": true, "find_idx_on_lockin_only": false, "hall_polarity_calibrated": false, "hall_polarity": 0, "ignore_illegal_hall_state": false, "index_offset": 0.0, "mode": 0, "phase_offset_float": 0.7762845754623413, "phase_offset": 5042, "pre_calibrated": true, "sincos_gpio_pin_cos": 4, "sincos_gpio_pin_sin": 3, "use_index_offset": true, "use_index": true}}, "max_endstop": {"config": {"debounce_ms": 50, "enabled": false, "gpio_num": 0, "is_active_high": false, "offset": 0.0}}, "mechanical_brake": {"config": {"gpio_num": 0, "is_active_low": true}}, "min_endstop": {"config": {"debounce_ms": 50, "enabled": false, "gpio_num": 0, "is_active_high": false, "offset": 0.0}}, "motor": {"config": {"I_bus_hard_max": Infinity, "I_bus_hard_min": -Infinity, "I_leak_max": 0.10000000149011612, "R_wL_FF_enable": false, "acim_autoflux_attack_gain": 10.0, "acim_autoflux_decay_gain": 1.0, "acim_autoflux_enable": false, "acim_autoflux_min_Id": 10.0, "acim_gain_min_flux": 10.0, "bEMF_FF_enable": false, "calibration_current": 20.0, "current_control_bandwidth": 1000.0, "current_lim_margin": 18.0, "current_lim": 20.0, "dc_calib_tau": 0.20000000298023224, "inverter_temp_limit_lower": 100.0, "inverter_temp_limit_upper": 120.0, "motor_type": 0, "phase_inductance": 2.2373302272171713e-05, "phase_resistance": 0.038598932325839996, "pole_pairs": 7, "pre_calibrated": true, "requested_current_range": 60.0, "resistance_calib_max_voltage": 2.0, "torque_constant": 0.025060605257749557, "torque_lim": Infinity}, "fet_thermistor": {"config": {"enabled": true, "temp_limit_lower": 100.0, "temp_limit_upper": 120.0}}, "motor_thermistor": {"config": {"enabled": false, "gpio_pin": 4, "poly_coefficient_0": 0.0, "poly_coefficient_1": 0.0, "poly_coefficient_2": 0.0, "poly_coefficient_3": 0.0, "temp_limit_lower": 100.0, "temp_limit_upper": 120.0}}}, "sensorless_estimator": {"config": {"observer_gain": 1000.0, "pll_bandwidth": 1000.0, "pm_flux_linkage": 0.0015800000401213765}}, "trap_traj": {"config": {"accel_limit": 0.5, "decel_limit": 0.5, "vel_limit": 2.0}}}, "can": {"config": {"baud_rate": 250000, "protocol": 1}}, "config": {"brake_resistance": 0.4699999988079071, "dc_bus_overvoltage_ramp_end": 25.68000030517578, "dc_bus_overvoltage_ramp_start": 25.68000030517578, "dc_bus_overvoltage_trip_level": 25.68000030517578, "dc_bus_undervoltage_trip_level": 8.0, "dc_max_negative_current": -0.009999999776482582, "dc_max_positive_current": Infinity, "enable_brake_resistor": true, "enable_can_a": true, "enable_dc_bus_overvoltage_ramp": false, "enable_i2c_a": false, "enable_uart_a": false, "enable_uart_b": false, "enable_uart_c": false, "error_gpio_pin": 0, "gpio10_mode": 11, "gpio11_mode": 2, "gpio12_mode": 12, "gpio13_mode": 12, "gpio14_mode": 2, "gpio15_mode": 7, "gpio16_mode": 7, "gpio1_mode": 4, "gpio2_mode": 4, "gpio3_mode": 3, "gpio4_mode": 3, "gpio5_mode": 3, "gpio6_mode": 0, "gpio7_mode": 0, "gpio8_mode": 0, "gpio9_mode": 11, "max_regen_current": 0.0, "uart0_protocol": 3, "uart1_protocol": 3, "uart2_protocol": 3, "uart_a_baudrate": 115200, "uart_b_baudrate": 115200, "uart_c_baudrate": 115200, "usb_cdc_protocol": 3, "gpio1_pwm_mapping": {"endpoint": null, "max": 0.0, "min": 0.0}, "gpio2_pwm_mapping": {"endpoint": null, "max": 0.0, "min": 0.0}, "gpio3_analog_mapping": {"endpoint": null, "max": 0.0, "min": 0.0}, "gpio3_pwm_mapping": {"endpoint": null, "max": 0.0, "min": 0.0}, "gpio4_analog_mapping": {"endpoint": null, "max": 0.0, "min": 0.0}, "gpio4_pwm_mapping": {"endpoint": null, "max": 0.0, "min": 0.0}}} +{"axis0": {"acim_estimator": {"config": {"slip_velocity": 14.706000328063965}}, "config": {"dir_gpio_pin": 2, "enable_sensorless_mode": false, "enable_step_dir": true, "enable_watchdog": false, "startup_closed_loop_control": true, "startup_encoder_index_search": true, "startup_encoder_offset_calibration": false, "startup_homing": false, "startup_motor_calibration": false, "step_dir_always_on": false, "step_gpio_pin": 1, "watchdog_timeout": 0.0, "calibration_lockin": {"accel": 20.0, "current": 10.0, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 40.0}, "can": {"encoder_rate_ms": 10, "heartbeat_rate_ms": 100, "is_extended": false, "node_id": 42}, "general_lockin": {"accel": 20.0, "current": 10.0, "finish_distance": 100.0, "finish_on_distance": false, "finish_on_enc_idx": false, "finish_on_vel": false, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 40.0}, "sensorless_ramp": {"accel": 200.0, "current": 10.0, "finish_distance": 100.0, "finish_on_distance": false, "finish_on_enc_idx": false, "finish_on_vel": true, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 400.0}}, "controller": {"config": {"axis_to_mirror": 255, "circular_setpoint_range": 10000.0, "circular_setpoints": false, "control_mode": 3, "electrical_power_bandwidth": 20.0, "enable_gain_scheduling": false, "enable_overspeed_error": true, "enable_torque_mode_vel_limit": true, "enable_vel_limit": true, "gain_scheduling_width": 10.0, "homing_speed": 0.25, "inertia": 0.0, "input_filter_bandwidth": 2.0, "input_mode": 1, "load_encoder_axis": 0, "mechanical_power_bandwidth": 20.0, "mirror_ratio": 1.0, "pos_gain": 47.0, "spinout_electrical_power_threshold": 10.0, "spinout_mechanical_power_threshold": -10.0, "steps_per_circular_range": 4000000, "torque_mirror_ratio": 0.0, "torque_ramp_rate": 0.009999999776482582, "vel_gain": 0.09000000357627869, "vel_integrator_gain": 0.20000000298023224, "vel_integrator_limit": Infinity, "vel_limit": 58.0, "vel_limit_tolerance": 1.2000000476837158, "vel_ramp_rate": 1.0, "anticogging": {"anticogging_enabled": false, "calib_anticogging": false, "calib_pos_threshold": 1.0, "calib_vel_threshold": 1.0, "cogging_ratio": 1.0, "index": 0, "pre_calibrated": false}}}, "encoder": {"config": {"abs_spi_cs_gpio_pin": 1, "bandwidth": 1000.0, "calib_range": 0.019999999552965164, "calib_scan_distance": 50.26548385620117, "calib_scan_omega": 12.566370964050293, "cpr": 8192, "direction": 1, "enable_phase_interpolation": true, "find_idx_on_lockin_only": false, "hall_polarity_calibrated": false, "hall_polarity": 0, "ignore_illegal_hall_state": false, "index_offset": 0.0, "mode": 0, "phase_offset_float": 0.56825852394104, "phase_offset": 4229, "pre_calibrated": false, "sincos_gpio_pin_cos": 4, "sincos_gpio_pin_sin": 3, "use_index_offset": true, "use_index": true}}, "max_endstop": {"config": {"debounce_ms": 50, "enabled": false, "gpio_num": 0, "is_active_high": false, "offset": 0.0}}, "mechanical_brake": {"config": {"gpio_num": 0, "is_active_low": true}}, "min_endstop": {"config": {"debounce_ms": 50, "enabled": false, "gpio_num": 0, "is_active_high": false, "offset": 0.0}}, "motor": {"config": {"I_bus_hard_max": Infinity, "I_bus_hard_min": -Infinity, "I_leak_max": 0.10000000149011612, "R_wL_FF_enable": false, "acim_autoflux_attack_gain": 10.0, "acim_autoflux_decay_gain": 1.0, "acim_autoflux_enable": false, "acim_autoflux_min_Id": 10.0, "acim_gain_min_flux": 10.0, "bEMF_FF_enable": false, "calibration_current": 20.0, "current_control_bandwidth": 1000.0, "current_lim_margin": 18.0, "current_lim": 20.0, "dc_calib_tau": 0.20000000298023224, "inverter_temp_limit_lower": 100.0, "inverter_temp_limit_upper": 120.0, "motor_type": 0, "phase_inductance": 2.3265618438017555e-05, "phase_resistance": 0.03775078058242798, "pole_pairs": 7, "pre_calibrated": true, "requested_current_range": 60.0, "resistance_calib_max_voltage": 2.0, "torque_constant": 0.025060605257749557, "torque_lim": Infinity}, "fet_thermistor": {"config": {"enabled": true, "temp_limit_lower": 100.0, "temp_limit_upper": 120.0}}, "motor_thermistor": {"config": {"enabled": false, "gpio_pin": 4, "poly_coefficient_0": 0.0, "poly_coefficient_1": 0.0, "poly_coefficient_2": 0.0, "poly_coefficient_3": 0.0, "temp_limit_lower": 100.0, "temp_limit_upper": 120.0}}}, "sensorless_estimator": {"config": {"observer_gain": 1000.0, "pll_bandwidth": 1000.0, "pm_flux_linkage": 0.0015800000401213765}}, "trap_traj": {"config": {"accel_limit": 0.5, "decel_limit": 0.5, "vel_limit": 2.0}}}, "axis1": {"acim_estimator": {"config": {"slip_velocity": 14.706000328063965}}, "config": {"dir_gpio_pin": 8, "enable_sensorless_mode": false, "enable_step_dir": true, "enable_watchdog": false, "startup_closed_loop_control": true, "startup_encoder_index_search": true, "startup_encoder_offset_calibration": false, "startup_homing": false, "startup_motor_calibration": false, "step_dir_always_on": false, "step_gpio_pin": 7, "watchdog_timeout": 0.0, "calibration_lockin": {"accel": 20.0, "current": 10.0, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 40.0}, "can": {"encoder_rate_ms": 10, "heartbeat_rate_ms": 100, "is_extended": false, "node_id": 43}, "general_lockin": {"accel": 20.0, "current": 10.0, "finish_distance": 100.0, "finish_on_distance": false, "finish_on_enc_idx": false, "finish_on_vel": false, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 40.0}, "sensorless_ramp": {"accel": 200.0, "current": 10.0, "finish_distance": 100.0, "finish_on_distance": false, "finish_on_enc_idx": false, "finish_on_vel": true, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 400.0}}, "controller": {"config": {"axis_to_mirror": 255, "circular_setpoint_range": 10000.0, "circular_setpoints": false, "control_mode": 3, "electrical_power_bandwidth": 20.0, "enable_gain_scheduling": false, "enable_overspeed_error": true, "enable_torque_mode_vel_limit": true, "enable_vel_limit": true, "gain_scheduling_width": 10.0, "homing_speed": 0.25, "inertia": 0.0, "input_filter_bandwidth": 2.0, "input_mode": 1, "load_encoder_axis": 1, "mechanical_power_bandwidth": 20.0, "mirror_ratio": 1.0, "pos_gain": 47.0, "spinout_electrical_power_threshold": 10.0, "spinout_mechanical_power_threshold": -10.0, "steps_per_circular_range": 4000000, "torque_mirror_ratio": 0.0, "torque_ramp_rate": 0.009999999776482582, "vel_gain": 0.09000000357627869, "vel_integrator_gain": 0.20000000298023224, "vel_integrator_limit": Infinity, "vel_limit": 58.0, "vel_limit_tolerance": 1.2000000476837158, "vel_ramp_rate": 1.0, "anticogging": {"anticogging_enabled": false, "calib_anticogging": false, "calib_pos_threshold": 1.0, "calib_vel_threshold": 1.0, "cogging_ratio": 1.0, "index": 0, "pre_calibrated": false}}}, "encoder": {"config": {"abs_spi_cs_gpio_pin": 1, "bandwidth": 1000.0, "calib_range": 0.019999999552965164, "calib_scan_distance": 50.26548385620117, "calib_scan_omega": 12.566370964050293, "cpr": 8192, "direction": 1, "enable_phase_interpolation": true, "find_idx_on_lockin_only": false, "hall_polarity_calibrated": false, "hall_polarity": 0, "ignore_illegal_hall_state": false, "index_offset": 0.0, "mode": 0, "phase_offset_float": 1.0004374980926514, "phase_offset": 5042, "pre_calibrated": false, "sincos_gpio_pin_cos": 4, "sincos_gpio_pin_sin": 3, "use_index_offset": true, "use_index": true}}, "max_endstop": {"config": {"debounce_ms": 50, "enabled": false, "gpio_num": 0, "is_active_high": false, "offset": 0.0}}, "mechanical_brake": {"config": {"gpio_num": 0, "is_active_low": true}}, "min_endstop": {"config": {"debounce_ms": 50, "enabled": false, "gpio_num": 0, "is_active_high": false, "offset": 0.0}}, "motor": {"config": {"I_bus_hard_max": Infinity, "I_bus_hard_min": -Infinity, "I_leak_max": 0.10000000149011612, "R_wL_FF_enable": false, "acim_autoflux_attack_gain": 10.0, "acim_autoflux_decay_gain": 1.0, "acim_autoflux_enable": false, "acim_autoflux_min_Id": 10.0, "acim_gain_min_flux": 10.0, "bEMF_FF_enable": false, "calibration_current": 20.0, "current_control_bandwidth": 1000.0, "current_lim_margin": 18.0, "current_lim": 20.0, "dc_calib_tau": 0.20000000298023224, "inverter_temp_limit_lower": 100.0, "inverter_temp_limit_upper": 120.0, "motor_type": 0, "phase_inductance": 2.245036193926353e-05, "phase_resistance": 0.03866796940565109, "pole_pairs": 7, "pre_calibrated": true, "requested_current_range": 60.0, "resistance_calib_max_voltage": 2.0, "torque_constant": 0.025060605257749557, "torque_lim": Infinity}, "fet_thermistor": {"config": {"enabled": true, "temp_limit_lower": 100.0, "temp_limit_upper": 120.0}}, "motor_thermistor": {"config": {"enabled": false, "gpio_pin": 4, "poly_coefficient_0": 0.0, "poly_coefficient_1": 0.0, "poly_coefficient_2": 0.0, "poly_coefficient_3": 0.0, "temp_limit_lower": 100.0, "temp_limit_upper": 120.0}}}, "sensorless_estimator": {"config": {"observer_gain": 1000.0, "pll_bandwidth": 1000.0, "pm_flux_linkage": 0.0015800000401213765}}, "trap_traj": {"config": {"accel_limit": 0.5, "decel_limit": 0.5, "vel_limit": 2.0}}}, "can": {"config": {"baud_rate": 250000, "protocol": 1}}, "config": {"brake_resistance": 0.4699999988079071, "dc_bus_overvoltage_ramp_end": 25.68000030517578, "dc_bus_overvoltage_ramp_start": 25.68000030517578, "dc_bus_overvoltage_trip_level": 25.68000030517578, "dc_bus_undervoltage_trip_level": 8.0, "dc_max_negative_current": -0.009999999776482582, "dc_max_positive_current": Infinity, "enable_brake_resistor": true, "enable_can_a": true, "enable_dc_bus_overvoltage_ramp": false, "enable_i2c_a": false, "enable_uart_a": false, "enable_uart_b": false, "enable_uart_c": false, "error_gpio_pin": 0, "gpio10_mode": 11, "gpio11_mode": 2, "gpio12_mode": 12, "gpio13_mode": 12, "gpio14_mode": 2, "gpio15_mode": 7, "gpio16_mode": 7, "gpio1_mode": 4, "gpio2_mode": 4, "gpio3_mode": 3, "gpio4_mode": 3, "gpio5_mode": 3, "gpio6_mode": 0, "gpio7_mode": 0, "gpio8_mode": 0, "gpio9_mode": 11, "max_regen_current": 0.0, "uart0_protocol": 3, "uart1_protocol": 3, "uart2_protocol": 3, "uart_a_baudrate": 115200, "uart_b_baudrate": 115200, "uart_c_baudrate": 115200, "usb_cdc_protocol": 3, "gpio1_pwm_mapping": {"endpoint": null, "max": 0.0, "min": 0.0}, "gpio2_pwm_mapping": {"endpoint": null, "max": 0.0, "min": 0.0}, "gpio3_analog_mapping": {"endpoint": null, "max": 0.0, "min": 0.0}, "gpio3_pwm_mapping": {"endpoint": null, "max": 0.0, "min": 0.0}, "gpio4_analog_mapping": {"endpoint": null, "max": 0.0, "min": 0.0}, "gpio4_pwm_mapping": {"endpoint": null, "max": 0.0, "min": 0.0}}}