High performance motor control
View the Project on GitHub odriverobotics/ODrive
Help improve these docs: submit edits using the link in the top right.
If you need help, please search or ask the ODrive Community.
startup_motor_calibration
— bool
readwrite
run motor calibration at startup, skip otherwise
startup_encoder_index_search
— bool
readwrite
run encoder index search after startup, skip otherwise this only has an effect if encoder.config.use_index is also true
startup_encoder_offset_calibration
— bool
readwrite
run encoder offset calibration after startup, skip otherwise
startup_closed_loop_control
— bool
readwrite
enable closed loop control after calibration/startup
startup_sensorless_control
— bool
readwrite
enable sensorless control after calibration/startup
startup_homing
— bool
readwrite
enable homing after calibration/startup
enable_step_dir
— bool
readwrite
Enable step/dir input after calibration. For M0 this has no effect if config.enable_uart is true.
step_dir_always_on
— bool
readwrite
Keep step/dir enabled while the motor is disabled. This is ignored if enable_step_dir is false. This setting only takes effect on a state transition into idle or out of closed loop control.
turns_per_step
— float32
readwrite
No description
watchdog_timeout
— float32
readwrite
No description
enable_watchdog
— bool
readwrite
No description
step_gpio_pin
— uint16
readwrite
No description
dir_gpio_pin
— uint16
readwrite
No description
calibration_lockin
— CalibrationLockin
No description
sensorless_ramp
— LockinConfig
No description
general_lockin
— LockinConfig
No description
can_node_id
— uint32
readwrite
Both axes will have the same id to start
can_node_id_extended
— bool
readwrite
No description
can_heartbeat_rate_ms
— uint32
readwrite
No description
This interface has no functions.