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Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | GPLv3 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | LQR, MPC and DRL approaches to control the Furuta pendulum. |
| Checkout URI | https://github.com/macstepien/furuta_pendulum.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-04-14 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | control robotics ros inverted-pendulum |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
TODO: Package description
Additional Links
No additional links.
Maintainers
- Maciej Stępień
Authors
- Maciej Stępień
Setup
pip install odrive==0.51
echo 'SUBSYSTEM=="usb", ATTR{idVendor}=="1209", ATTR{idProduct}=="0d[0-9][0-9]", MODE="0666"' | sudo tee /etc/udev/rules.d/91-odrive.rules
sudo udevadm control --reload-rules
sudo udevadm trigger
export PATH=$PATH:~/.local/bin
pip install ipython==8.10
Motor configuration
odrv0.erase_configuration()
odrv0.config.brake_resistance=2.0
odrv0.axis0.controller.config.vel_limit = 40.0
odrv0.axis0.motor.config.current_lim = 12.0
odrv0.axis0.motor.config.pole_pairs = 7
odrv0.axis0.motor.config.torque_constant = 8.27/80.0
odrv0.axis0.motor.config.motor_type = MOTOR_TYPE_GIMBAL
odrv0.axis0.motor.config.calibration_current = 1.0
odrv0.axis0.config.calibration_lockin.current = 1.0
odrv0.axis0.encoder.config.bandwidth = 1000.0
odrv0.axis1.encoder.config.bandwidth = 1000.0
odrv0.axis0.encoder.config.cpr = 8192
odrv0.axis0.encoder.config.use_index = True
odrv0.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE
odrv0.axis0.encoder.config.pre_calibrated = True
odrv0.axis0.motor.config.pre_calibrated = True
odrv0.axis0.config.startup_encoder_index_search = True
odrv0.save_configuration()
dump_errors(odrv0)
odrv0.axis0.controller.config.pos_gain = 35.0
odrv0.axis0.controller.config.vel_gain = 0.14083333313465118
odrv0.axis0.controller.config.vel_integrator_gain = 7.041666507720947
IMPORTANT - don’t copy all commands at once, do it one after the other
odrv0.axis0.controller.config.control_mode = CONTROL_MODE_POSITION_CONTROL
odrv0.axis0.controller.config.input_mode = INPUT_MODE_PASSTHROUGH
odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
odrv0.axis0.controller.input_pos = 0.0
odrv0.axis0.controller.start_anticogging_calibration()
import matplotlib
matplotlib.use('TkAgg')
start_liveplotter(lambda:[odrv0.axis0.encoder.pos_estimate, odrv0.axis0.controller.pos_setpoint])
Wait until odrv0.axis0.controller.config.anticogging.calib_anticogging == False
odrv0.axis0.controller.config.anticogging.pre_calibrated = True
Additionally can be checked odrv0.axis0.controller.config.anticogging.anticogging_enabled
odrv0.save_configuration()
Configuration is finished.
Usage
odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
odrv0.axis0.controller.config.control_mode = CONTROL_MODE_TORQUE_CONTROL
odrv0.axis0.controller.input_torque = 0.0
Resetting encoder count:
odrv0.axis1.encoder.set_linear_count(0)
Saving and restoring configs
Saving config:
odrivetool backup-config ./odrive.json
Restoring config:
odrivetool restore-config odrive_config.json
Notes
- in gimbal mode current limit means voltage limit
- motor used - max current around 3A.
-
potential error:
ERROR: the following packages/stacks could not have their rosdep keys resolved to system dependencies: odrive_demo_description: Cannot locate rosdep definition for [ros2_control_demo_description]
CMake Error at CMakeLists.txt:28 (message): Failed to find libusb-1.0
sudo apt-get install libusb-1.0-0-dev
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| launch | |
| launch_ros | |
| xacro | |
| robot_state_publisher |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged furuta_pendulum_hardware at Robotics Stack Exchange
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