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Can Bus Config Odirve

常用命令

  • 电机编码器校准，正转一圈反转一圈
cansend can0 207#0700000000000000
  • 检测电机参数，在该命令大约 2s 后执行后会听到电机"哔"的一声。
cansend can0 207#0400000000000000

如果是电机启动后进行的编码器校准，则校准完成后电机不会进入闭环模式，需要再次输入命令手动开启闭环。

  • 开启电机的闭环模式
cansend can0 207#0800000000000000
  • 重启 odrive
cansend can0 216#0000000000000000
  • 通过 can 指令指控点击速度
cansend can0 20C# 00 00 00 00 07 D0 00 00 给点击速度指令
// data.at(4) = 0x07;
// data.at(5) = 0xD0;

odrive 中的几个比较重要的参数设置

  • 在速度控制模式下，该参数控制的是电机的最大转速，单位为 (转$/s$)
odrv0.axis0.controller.config.vel_limit = 20
  • 该参数控制的是电机的加速度的大小，当加速度过小的时候，是没办法达到一个及时相应的。
odrv0.axis0.controller.config.vel_ramp_rate = 1000
  • 该参数控制的是电机速度环的一个 kp 值，但初始化一般为 0.2 具体要根据自己的系统进行调节。
odrv0.axis0.controller.config.vel_gain =  0.3
  • 该参数控制的是 odrive 运行时的电流限制大小
odrv0.axis0.motor.config.current_lim = 12

注意，按照道理来说，如果想要达到一个非常高的电机响应，上面的几个值都应该是比较大的，但是本人在配置的时候却发现过大容易出现电机脱离闭环，触发 odrive 的内部电流保护机制，此时将 current_limit 调低能够有所缓解。

Erros

  • MotorError.CURRENT_SENSE_SATURATION

    莫名其妙点击停止转动，突然停止

  • AxisError.DC_BUS_UNDER_VOLTAGE

    莫名其妙点击停止转动

  • MotorError.DRV_FAULT

  • MotorError.CURRENT_LIMIT_VIOLATION

    闭环模式下，手动强行转动电机

  • socket can error write: No buffer space available

1、查看
root@socfpga:/sys/class/net/can0# cat tx_queue_len
10
2、root@socfpga:/sys/class/net/can0# echo 4096 > tx_queue_len
3、root@socfpga:/sys/class/net/can0# cat tx_queue_len
4096
4、再运行程序

Reference

float angle_pid_out = bike_pid(balance_roll_angle, radian2angle(imu_ch100_pose_ptr_->roll_), PidParams::POSITION, bike_pid.getAnglePid(), false);

float angle_vel_pid_out =
    bike_pid(angle_pid_out, gyro_msg.x, PidParams::POSITION,
             bike_pid.getAngleVelocityPid(), true);

// bike pour left the error is positive
float roll_angle_error =
balance_roll_angle - radian2angle(imu_ch100_pose_ptr_->roll_);
// 车子向右倾斜会输出正的角速度，向左会输出负的角速度
float gyro_speed_error = gyro_msg.x;
// 电机向右转速度为负数，向左转速度为正数
current_speed = odrive_can_parsed_msg_ptr_->speed;

小小的错误记录一下，出现了如下报错

在使用商家给的程序的时候在 /usr/local/include/CSerialPort/SerialPort_global.h 下有如下定义

typedef long long int64; ///< 64 bit signed unix 定义Unix int64

但是在这个程序中我又使用了 opencv 因此出现了如下报错

n file included from /usr/include/opencv2/core/cvdef.h:67:0,
                 from /usr/include/opencv2/core.hpp:52,
                 from /usr/include/opencv2/opencv.hpp:52,
                 from /home/hll/code_space/bike_ws/src/bike_core/include/bike_core/OdriveMotorConfig.hpp:9,
                 from /home/hll/code_space/bike_ws/src/bike_core/include/bike_core/ServoControl.hpp:12,
                 from /home/hll/code_space/bike_ws/src/bike_core/src/ServoControl.cpp:1:
/usr/include/opencv2/core/hal/interface.h:57:20: error: conflicting declaration ‘typedef int64_t int64’
    typedef int64_t int64;
                    ^~~~~
In file included from /usr/local/include/CSerialPort/SerialPort.h:19:0,
                 from /home/hll/code_space/bike_ws/src/bike_core/include/bike_core/ServoControl.hpp:9,
                 from /home/hll/code_space/bike_ws/src/bike_core/src/ServoControl.cpp:1:
/usr/local/include/CSerialPort/SerialPort_global.h:30:19: note: previous declaration as ‘typedef long long int int64’
 typedef long long int64; ///< 64 bit signed unix 定义Unix int64
                   ^~~~~
In file included from /usr/include/opencv2/core/cvdef.h:67:0,
                 from /usr/include/opencv2/core.hpp:52,
                 from /usr/include/opencv2/opencv.hpp:52,
                 from /home/hll/code_space/bike_ws/src/bike_core/include/bike_core/OdriveMotorConfig.hpp:9,
                 from /home/hll/code_space/bike_ws/src/bike_core/include/bike_core/ServoControl.hpp:12,
                 from /home/hll/code_space/bike_ws/src/bike_core/test/servo_control_test_node.cpp:1:
/usr/include/opencv2/core/hal/interface.h:57:20: error: conflicting declaration ‘typedef int64_t int64’
    typedef int64_t int64;
                    ^~~~~
In file included from /usr/local/include/CSerialPort/SerialPort.h:19:0,
                 from /home/hll/code_space/bike_ws/src/bike_core/include/bike_core/ServoControl.hpp:9,
                 from /home/hll/code_space/bike_ws/src/bike_core/test/servo_control_test_node.cpp:1:
/usr/local/include/CSerialPort/SerialPort_global.h:30:19: note: previous declaration as ‘typedef long long int int64’
 typedef long long int64; ///< 64 bit signed unix 定义Unix int64
                   ^~~~~
In file included from /usr/include/opencv2/core/cvdef.h:67:0,
                 from /usr/include/opencv2/core.hpp:52,
                 from /usr/include/opencv2/opencv.hpp:52,
                 from /home/hll/code_space/bike_ws/src/bike_core/include/bike_core/OdriveMotorConfig.hpp:9,
                 from /home/hll/code_space/bike_ws/src/bike_core/include/bike_core/ServoControl.hpp:12,
                 from /home/hll/code_space/bike_ws/src/bike_core/src/ServoControl.cpp:1:
/usr/include/opencv2/core/hal/interface.h:57:20: error: conflicting declaration ‘typedef int64_t int64’
    typedef int64_t int64;
                    ^~~~~

大概意思就是多个地方对 int64 的定义冲突了。 因此我将商家给的程序部分的 long long 改为了一个 long 使用

在部署到新的环境上的时候出现的和 Anaconda 兼容性错误

/usr/lib/x86_64-linux-gnu/libapr-1.so.0：对‘uuid_generate@UUID_1.0’未定义的引用
collect2: error: ld returned 1 exit status

解决方案