Control unit beta

.gitignore

@@ -57,3 +57,6 @@ CMakePresets.json
 cmake_install.cmake
 compile_commands.json
 
+# Ignore python cache
+__pycache__/
+cache.md

config/配置参数（优化版本）.txt

@@ -0,0 +1,68 @@
+odrv0.erase_configuration()
+odrv0.config.brake_resistance = 0.47
+odrv0.config.dc_bus_overvoltage_trip_level = 56
+odrv0.config.dc_max_positive_current = 120
+odrv0.config.dc_max_negative_current = -30
+
+
+odrv0.axis0.motor.config.motor_type = MOTOR_TYPE_HIGH_CURRENT
+odrv0.axis0.motor.config.pole_pairs = 14
+odrv0.axis0.motor.config.calibration_current = 10
+odrv0.axis0.motor.config.current_lim = 120
+odrv0.axis0.motor.config.current_lim_margin = 8
+odrv0.axis0.encoder.config.mode = ENCODER_MODE_INCREMENTAL
+odrv0.axis0.encoder.config.cpr = 8192
+odrv0.axis0.controller.config.control_mode = CONTROL_MODE_VELOCITY_CONTROL
+odrv0.axis0.controller.config.vel_limit = 50
+odrv0.axis0.controller.config.vel_limit_tolerance = 2
+odrv0.axis0.controller.config.vel_gain = 0.45   //kp
+odrv0.axis0.controller.config.vel_integrator_gain = 0.2 //ki
+odrv0.axis0.controller.config.input_mode = INPUT_MODE_VEL_RAMP
+odrv0.axis0.controller.config.vel_ramp_rate = 50
+
+
+odrv0.axis1.motor.config.motor_type = MOTOR_TYPE_HIGH_CURRENT
+odrv0.axis1.motor.config.pole_pairs = 14
+odrv0.axis1.motor.config.calibration_current = 10
+odrv0.axis1.motor.config.current_lim = 120
+odrv0.axis1.motor.config.current_lim_margin = 8
+odrv0.axis1.encoder.config.mode = ENCODER_MODE_INCREMENTAL
+odrv0.axis1.encoder.config.cpr = 8192
+odrv0.axis1.controller.config.control_mode = CONTROL_MODE_VELOCITY_CONTROL
+odrv0.axis1.controller.config.vel_limit = 50
+odrv0.axis1.controller.config.vel_limit_tolerance = 2
+odrv0.axis1.controller.config.vel_gain = 0.45    //kp
+odrv0.axis1.controller.config.vel_integrator_gain = 0.2 //ki
+odrv0.axis1.controller.config.input_mode = INPUT_MODE_VEL_RAMP
+odrv0.axis1.controller.config.vel_ramp_rate = 50
+
+
+
+odrv0.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE  //校准大概需要十秒钟
+odrv0.axis0.error  //检查是否有错误，报0说明编码器连接没问题，报256说明编码器连接有问题
+odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
+odrv0.axis0.motor.config.pre_calibrated = True
+odrv0.axis0.config.startup_encoder_offset_calibration = True
+odrv0.axis0.config.startup_closed_loop_control = True
+
+
+odrv0.axis1.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE  //校准大概需要十秒钟
+odrv0.axis1.error  //检查是否有错误
+odrv0.axis1.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
+odrv0.axis1.motor.config.pre_calibrated = True
+odrv0.axis1.config.startup_encoder_offset_calibration = True
+odrv0.axis1.config.startup_closed_loop_control = True
+
+odrv0.config.enable_uart = True
+odrv0.config.uart_baudrate = 460800
+
+odrv0.axis0.requested_state = AXIS_STATE_IDLE  //释放电机，配置完参数之后释放电机才能保存
+odrv0.axis1.requested_state = AXIS_STATE_IDLE
+odrv0.save_configuration()
+odrv0.reboot()
+
+
+odrv0.axis0.controller.input_vel = 10  //设置转速
+odrv0.axis1.controller.input_vel = 10
+
+

doc/ASCII Protocol.md

@@ -0,0 +1,113 @@
+Here’s a summary of the protocol layers based on the given ASCII protocol, encapsulated in a Python class for ease of use.
+
+### ASCII Protocol Summary
+1. **Communication Interfaces**: 
+   - USB or UART can be used to communicate with the ODrive. Different commands are sent based on the connection type.
+
+2. **Command Format**:
+   - Commands are sent as text-based lines, potentially including an optional GCode-compatible checksum.
+   - The format is: `command *checksum ; comment [newline]`.
+   - Commands are interpreted when a newline character is encountered.
+
+3. **Command Types**:
+   - **Motor Commands**:
+     - `t motor destination`: Motor trajectory command.
+     - `q motor position velocity_lim torque_lim`: Single setpoint for motor position.
+     - `p motor position velocity_ff torque_ff`: Streaming setpoints for motor position.
+     - `v motor velocity torque_ff`: Motor velocity command.
+     - `c motor torque`: Motor current (torque) command.
+   - **Feedback Requests**:
+     - `f motor`: Requests motor position and velocity feedback.
+   - **Watchdog Update**:
+     - `u motor`: Updates the motor watchdog timer.
+   - **Parameter Reading/Writing**:
+     - `r property`: Read parameter.
+     - `w property value`: Write parameter.
+   - **System Commands**:
+     - `ss`: Save configuration.
+     - `se`: Erase configuration.
+     - `sr`: Reboot.
+     - `sc`: Clear errors.
+
+### Python Encapsulation
+
+The following Python class encapsulates the described ASCII protocol:
+
+```python
+import serial
+
+class ODriveAsciiProtocol:
+    def __init__(self, port: str, baudrate: int = 115200):
+        self.serial = serial.Serial(port, baudrate, timeout=1)
+
+    def send_command(self, command: str):
+        # Send command to the ODrive, with newline character
+        self.serial.write(f"{command}\n".encode())
+
+    def read_response(self):
+        # Read the response from ODrive
+        return self.serial.readline().decode().strip()
+
+    def motor_trajectory(self, motor: int, destination: float):
+        command = f"t {motor} {destination}"
+        self.send_command(command)
+
+    def motor_position(self, motor: int, position: float, velocity_lim: float = None, torque_lim: float = None):
+        command = f"q {motor} {position}"
+        if velocity_lim is not None:
+            command += f" {velocity_lim}"
+        if torque_lim is not None:
+            command += f" {torque_lim}"
+        self.send_command(command)
+
+    def motor_position_stream(self, motor: int, position: float, velocity_ff: float = 0.0, torque_ff: float = 0.0):
+        command = f"p {motor} {position} {velocity_ff} {torque_ff}"
+        self.send_command(command)
+
+    def motor_velocity(self, motor: int, velocity: float, torque_ff: float = 0.0):
+        command = f"v {motor} {velocity} {torque_ff}"
+        self.send_command(command)
+
+    def motor_current(self, motor: int, torque: float):
+        command = f"c {motor} {torque}"
+        self.send_command(command)
+
+    def request_feedback(self, motor: int):
+        command = f"f {motor}"
+        self.send_command(command)
+        return self.read_response()
+
+    def update_watchdog(self, motor: int):
+        command = f"u {motor}"
+        self.send_command(command)
+
+    def read_parameter(self, property_name: str):
+        command = f"r {property_name}"
+        self.send_command(command)
+        return self.read_response()
+
+    def write_parameter(self, property_name: str, value: float):
+        command = f"w {property_name} {value}"
+        self.send_command(command)
+
+    def system_command(self, command_type: str):
+        valid_commands = {"ss", "se", "sr", "sc"}
+        if command_type not in valid_commands:
+            raise ValueError(f"Invalid system command: {command_type}")
+        self.send_command(command_type)
+
+    def close(self):
+        self.serial.close()
+```
+
+### Usage Example
+```python
+# Example usage
+odrive = ODriveAsciiProtocol(port='/dev/ttyACM0')
+odrive.motor_position(0, -2, velocity_lim=1, torque_lim=0.1)
+feedback = odrive.request_feedback(0)
+print(f"Motor feedback: {feedback}")
+odrive.close()
+```
+
+This class provides a Pythonic way to interact with the ODrive via the ASCII protocol, supporting motor control, parameter management, and system operations.