Configuring ODrive
======================

Prerequisites
--------------------

Launch odrivetool
^^^^^^^^^^^^^^^^^^
.. code-block:: bash

   odrivetool

Configuration
--------------------

Current limit
^^^^^^^^^^^^^

.. code-block:: bash

   odrv0.axis0.motor.config.current_lim = 10
   odrv0.axis1.motor.config.current_lim = 10

Velocity limit
^^^^^^^^^^^^^^

.. code-block:: bash

	odrv0.axis0.controller.config.vel_limit = 5
	odrv0.axis1.controller.config.vel_limit = 5

Enable brake resistor
^^^^^^^^^^^^^^^^^^^^^

.. code-block:: bash

	odrv0.config.enable_brake_resistor = True

Brake restance value
^^^^^^^^^^^^^^^^^^^^

.. code-block:: bash

	odrv0.config.brake_resistance = 0.05


Pole pairs
^^^^^^^^^^

.. code-block:: bash

	odrv0.axis0.motor.config.pole_pairs = 7
	odrv0.axis1.motor.config.pole_pairs = 7

Torque constant
^^^^^^^^^^^^^^^

.. code-block:: bash

	odrv0.axis0.motor.config.torque_constant = 8.27/270
	odrv0.axis1.motor.config.torque_constant = 8.27/270

Calibrate motors
^^^^^^^^^^^^^^^^

.. code-block:: bash

	odrv0.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE
	odrv0.axis1.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE
	
Velocity control
^^^^^^^^^^^^^^^^^^^^^^^^^^^^

.. code-block:: bash

    odrv0.axis0.controller.config.control_mode = CONTROL_MODE_VELOCITY_CONTROL
    odrv0.axis1.controller.config.control_mode = CONTROL_MODE_VELOCITY_CONTROL

Save configuration
^^^^^^^^^^^^^^^^^^

.. code-block:: bash

	odrv0.save_configuration()

Testing and Troubleshooting
---------------------------

Request closed-loop control
^^^^^^^^^^^^^^^^^^^^^^^^^^^

.. code-block:: bash

	odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
	odrv0.axis1.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL

.. code-block:: bash

	odrv0.axis0.controller.input_vel = 1
	odrv0.axis1.controller.input_vel = 1


Dump errors
^^^^^^^^^^^

.. code-block:: bash

	dump_errors(odrv0)

Clear errors
^^^^^^^^^^^^

.. code-block:: bash

	odrv0.clear_errors()