rds_1dof

Code for RDS one DOF prototype, communicating with Odrive pro over CAN. This repo is intended for Teensy 4.1 but will also work on Teensy 4.0 with some adjustments.

Start Up

0. Use Odrive WebGui to configure odrive for torque control
1. Clone repo into a PlatformIO workspace.
2. Build and upload to teensy 4.1
3. Use Teleplot to get real time feedback on controller performance

RDS Group Notes

We are using this motor With this SPI encoder

Laptop - Teensy communication standard

Data command from laptop to teensy

This command is used to send a position trajectory for the teensy to send to motors.

<command_type = D> <data_length: int, 1-1000> <repeat = 1 | 0>

<mcp_splay_position: float> <mcp_flex_position: float> <pip_flex_position: float>

...

<mcp_splay_position: float> <mcp_flex_position: float> <pip_flex_position: float>
        
<data_crc8: uint_8> 
end

Go command from laptop to teensy

This command will start the teensy tracking the trajectory.

<command_type = G>
end

Stop command from laptop to teensy

This command will stop the teensy safely.

<command_type = S>
end

General feedback from teensy to laptop

The teensy is constantly sending these commands back to the laptop.

<mcp_splay_position: float> <mcp_flex_position: float> <pip_flex_position: float> <active_bool: 1.0 | 0.0 >

Message recieved feedback from teensy to laptop

This message is response for a message recieved from the laptop.

<success_bool >