From c9b4b4db6e7f6c355950c9fe6da4cedbd1e043f9 Mon Sep 17 00:00:00 2001 From: haroldina Date: Sat, 23 Mar 2024 14:20:09 -0500 Subject: [PATCH] Rebased to docs-v0.5.6, changed hard link to reference in hoverboard.rst, added reference to getting-started.rst for Encoder Configuration, clarified statement about changing current limit to 60A, clarified hoverboard guide settings relateding to use without an encoder. --- docs/getting-started.rst | 5 +++-- docs/hoverboard.rst | 6 +++++- 2 files changed, 8 insertions(+), 3 deletions(-) diff --git a/docs/getting-started.rst b/docs/getting-started.rst index 02f375fe8..de8a7e572 100644 --- a/docs/getting-started.rst +++ b/docs/getting-started.rst @@ -256,7 +256,7 @@ Once the error(s) have been identified and corrected, run :code:`odrv0.clear_err .. admonition:: Working on a hoverboard? - There is a :ref:`separate guide ` specifically for hoverboard motors + There is a :ref:`separate guide ` specifically for hoverboard motors with RC PWM input and the built-in hall sensors. Setting the Limits @@ -279,7 +279,7 @@ Current limit odrv0.axis0.motor.config.current_lim = val - Once you have tuned the ODrive, you can increase this to 60A to increase performance. + Once you have tuned the ODrive, you can increase this to your motor's maximum current, up to 60A, to increase performance. .. dropdown:: Need more than 60A? @@ -419,6 +419,7 @@ Motor Thermistor If using motor thermistor please see the :ref:`thermistors ` page for setup. +.. _encoder-config: Encoder Configuration -------------------------------------------------------------------------------- diff --git a/docs/hoverboard.rst b/docs/hoverboard.rst index f9fa43eca..f62425407 100644 --- a/docs/hoverboard.rst +++ b/docs/hoverboard.rst @@ -97,7 +97,9 @@ If you can't perform this test, a typical value is 16. odrv0.axis0.motor.config.current_control_bandwidth = 100 odrv0.axis0.motor.config.torque_constant = 8.27 / - +Hall Sensor Configuration +------------------------------------------------------------------------------- +If using a hoverboard motor with an encoder attached instead of the internal hall sensors, use the encoder configuration section of the :ref:`Getting Started ` guide. If you set the encoder to hall mode (instead of incremental). See the :ref:`pinout ` for instructions on how to plug in the hall feedback. The hall feedback has 6 states for every pole pair in the motor. @@ -132,6 +134,8 @@ Lets also start in velocity control mode since that is probably what you want fo odrv0.axis0.controller.config.vel_limit = 10 odrv0.axis0.controller.config.control_mode = CONTROL_MODE_VELOCITY_CONTROL +Calibration and Powering the Motor +------------------------------------------------------------------------------- In the next step we are going to start powering the motor and so we want to make sure that some of the above settings that require a reboot are applied first.