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odriveConfing.json
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odriveConfing.json
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{"config": {"brake_resistance": 0.4699999988079071, "enable_uart": true, "enable_i2c_instead_of_can": false, "enable_ascii_protocol_on_usb": true, "dc_bus_undervoltage_trip_level": 8.0, "dc_bus_overvoltage_trip_level": 25.68000030517578}, "axis0": {"config": {"startup_motor_calibration": false, "startup_encoder_index_search": false, "startup_encoder_offset_calibration": false, "startup_closed_loop_control": false, "startup_sensorless_control": false, "enable_step_dir": false, "counts_per_step": 2.0, "step_gpio_pin": 1, "dir_gpio_pin": 2, "ramp_up_time": 0.4000000059604645, "ramp_up_distance": 12.566370964050293, "spin_up_current": 10.0, "spin_up_acceleration": 400.0, "spin_up_target_vel": 400.0}, "motor": {"config": {"pre_calibrated": true, "pole_pairs": 7, "calibration_current": 10.0, "resistance_calib_max_voltage": 2.0, "phase_inductance": 6.504348675662186e-06, "phase_resistance": 0.032805852591991425, "direction": 1, "motor_type": 0, "current_lim": 20.0, "inverter_temp_limit_lower": 100.0, "inverter_temp_limit_upper": 120.0, "requested_current_range": 25.0, "current_control_bandwidth": 1000.0}}, "controller": {"config": {"control_mode": 3, "pos_gain": 40.0, "vel_gain": 0.0005000000237487257, "vel_integrator_gain": 0.0005000000237487257, "vel_limit": 400000.0, "vel_limit_tolerance": 0.0, "vel_ramp_rate": 10000.0, "setpoints_in_cpr": false}}, "encoder": {"config": {"mode": 0, "use_index": false, "pre_calibrated": false, "idx_search_speed": 10.0, "zero_count_on_find_idx": true, "cpr": 2400, "offset": 13415, "offset_float": 1.3353906869888306, "enable_phase_interpolation": true, "bandwidth": 1000.0, "calib_range": 0.019999999552965164, "ignore_illegal_hall_state": false}}, "sensorless_estimator": {"config": {"observer_gain": 1000.0, "pll_bandwidth": 1000.0, "pm_flux_linkage": 0.0015800000401213765}}, "trap_traj": {"config": {"vel_limit": 40000.0, "accel_limit": 20000.0, "decel_limit": 5000.0, "A_per_css": 0.0}}}, "axis1": {"config": {"startup_motor_calibration": false, "startup_encoder_index_search": false, "startup_encoder_offset_calibration": false, "startup_closed_loop_control": false, "startup_sensorless_control": false, "enable_step_dir": false, "counts_per_step": 2.0, "step_gpio_pin": 3, "dir_gpio_pin": 4, "ramp_up_time": 0.4000000059604645, "ramp_up_distance": 12.566370964050293, "spin_up_current": 10.0, "spin_up_acceleration": 400.0, "spin_up_target_vel": 400.0}, "motor": {"config": {"pre_calibrated": true, "pole_pairs": 7, "calibration_current": 10.0, "resistance_calib_max_voltage": 2.0, "phase_inductance": 7.875048140704166e-06, "phase_resistance": 0.042558856308460236, "direction": 1, "motor_type": 0, "current_lim": 20.0, "inverter_temp_limit_lower": 100.0, "inverter_temp_limit_upper": 120.0, "requested_current_range": 25.0, "current_control_bandwidth": 1000.0}}, "controller": {"config": {"control_mode": 3, "pos_gain": 40.0, "vel_gain": 0.0005000000237487257, "vel_integrator_gain": 0.0005000000237487257, "vel_limit": 400000.0, "vel_limit_tolerance": 0.0, "vel_ramp_rate": 10000.0, "setpoints_in_cpr": false}}, "encoder": {"config": {"mode": 0, "use_index": false, "pre_calibrated": false, "idx_search_speed": 10.0, "zero_count_on_find_idx": true, "cpr": 2400, "offset": 1357, "offset_float": 0.9100156426429749, "enable_phase_interpolation": true, "bandwidth": 1000.0, "calib_range": 0.019999999552965164, "ignore_illegal_hall_state": false}}, "sensorless_estimator": {"config": {"observer_gain": 1000.0, "pll_bandwidth": 1000.0, "pm_flux_linkage": 0.0015800000401213765}}, "trap_traj": {"config": {"vel_limit": 40000.0, "accel_limit": 20000.0, "decel_limit": 5000.0, "A_per_css": 0.0}}}}