ROS IndexNo version for distro humble showing github. Known supported distros are highlighted in the buttons above.
|
furuta_pendulum_hardware package from furuta_pendulum repofuruta_pendulum_bringup furuta_pendulum_control_toolbox furuta_pendulum_de furuta_pendulum_description furuta_pendulum_drake furuta_pendulum_gazebo furuta_pendulum_hardware furuta_pendulum_model furuta_pendulum_ocs2 furuta_pendulum_ocs2_ros furuta_pendulum_rl |
ROS Distro
|
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 |
| Released | UNRELEASED |
| Tags | control robotics ros inverted-pendulum |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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
File truncated at 100 lines see the full file
CHANGELOG
No CHANGELOG found.
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
No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
|
|
furuta_pendulum_hardware package from furuta_pendulum repofuruta_pendulum_bringup furuta_pendulum_control_toolbox furuta_pendulum_de furuta_pendulum_description furuta_pendulum_drake furuta_pendulum_gazebo furuta_pendulum_hardware furuta_pendulum_model furuta_pendulum_ocs2 furuta_pendulum_ocs2_ros furuta_pendulum_rl |
ROS Distro
|
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 |
| Released | UNRELEASED |
| Tags | control robotics ros inverted-pendulum |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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
File truncated at 100 lines see the full file
CHANGELOG
No CHANGELOG found.
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
No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
|
|
furuta_pendulum_hardware package from furuta_pendulum repofuruta_pendulum_bringup furuta_pendulum_control_toolbox furuta_pendulum_de furuta_pendulum_description furuta_pendulum_drake furuta_pendulum_gazebo furuta_pendulum_hardware furuta_pendulum_model furuta_pendulum_ocs2 furuta_pendulum_ocs2_ros furuta_pendulum_rl |
ROS Distro
|
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 |
| Released | UNRELEASED |
| Tags | control robotics ros inverted-pendulum |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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
File truncated at 100 lines see the full file
CHANGELOG
No CHANGELOG found.
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
No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
|
|
furuta_pendulum_hardware package from furuta_pendulum repofuruta_pendulum_bringup furuta_pendulum_control_toolbox furuta_pendulum_de furuta_pendulum_description furuta_pendulum_drake furuta_pendulum_gazebo furuta_pendulum_hardware furuta_pendulum_model furuta_pendulum_ocs2 furuta_pendulum_ocs2_ros furuta_pendulum_rl |
ROS Distro
|
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 |
| Released | UNRELEASED |
| Tags | control robotics ros inverted-pendulum |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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
File truncated at 100 lines see the full file
CHANGELOG
No CHANGELOG found.
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
|
|
furuta_pendulum_hardware package from furuta_pendulum repofuruta_pendulum_bringup furuta_pendulum_control_toolbox furuta_pendulum_de furuta_pendulum_description furuta_pendulum_drake furuta_pendulum_gazebo furuta_pendulum_hardware furuta_pendulum_model furuta_pendulum_ocs2 furuta_pendulum_ocs2_ros furuta_pendulum_rl |
ROS Distro
|
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 |
| Released | UNRELEASED |
| Tags | control robotics ros inverted-pendulum |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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
File truncated at 100 lines see the full file
CHANGELOG
No CHANGELOG found.
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
No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
|
|
furuta_pendulum_hardware package from furuta_pendulum repofuruta_pendulum_bringup furuta_pendulum_control_toolbox furuta_pendulum_de furuta_pendulum_description furuta_pendulum_drake furuta_pendulum_gazebo furuta_pendulum_hardware furuta_pendulum_model furuta_pendulum_ocs2 furuta_pendulum_ocs2_ros furuta_pendulum_rl |
ROS Distro
|
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 |
| Released | UNRELEASED |
| Tags | control robotics ros inverted-pendulum |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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
File truncated at 100 lines see the full file
CHANGELOG
No CHANGELOG found.
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
No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
|
|
furuta_pendulum_hardware package from furuta_pendulum repofuruta_pendulum_bringup furuta_pendulum_control_toolbox furuta_pendulum_de furuta_pendulum_description furuta_pendulum_drake furuta_pendulum_gazebo furuta_pendulum_hardware furuta_pendulum_model furuta_pendulum_ocs2 furuta_pendulum_ocs2_ros furuta_pendulum_rl |
ROS Distro
|
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 |
| Released | UNRELEASED |
| Tags | control robotics ros inverted-pendulum |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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
File truncated at 100 lines see the full file
CHANGELOG
No CHANGELOG found.
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
No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
|
|
furuta_pendulum_hardware package from furuta_pendulum repofuruta_pendulum_bringup furuta_pendulum_control_toolbox furuta_pendulum_de furuta_pendulum_description furuta_pendulum_drake furuta_pendulum_gazebo furuta_pendulum_hardware furuta_pendulum_model furuta_pendulum_ocs2 furuta_pendulum_ocs2_ros furuta_pendulum_rl |
ROS Distro
|
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 |
| Released | UNRELEASED |
| Tags | control robotics ros inverted-pendulum |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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
File truncated at 100 lines see the full file
CHANGELOG
No CHANGELOG found.
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
No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
|
|
furuta_pendulum_hardware package from furuta_pendulum repofuruta_pendulum_bringup furuta_pendulum_control_toolbox furuta_pendulum_de furuta_pendulum_description furuta_pendulum_drake furuta_pendulum_gazebo furuta_pendulum_hardware furuta_pendulum_model furuta_pendulum_ocs2 furuta_pendulum_ocs2_ros furuta_pendulum_rl |
ROS Distro
|
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 |
| Released | UNRELEASED |
| Tags | control robotics ros inverted-pendulum |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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
File truncated at 100 lines see the full file
CHANGELOG
No CHANGELOG found.
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.