Analog Input
Analog inputs can be used to measure voltages between 0 and 3.3V.
ODrive uses a 12 bit ADC (4096 steps) and so has a maximum resolution of 0.8 mV.
A GPIO must be configured with <odrv>.config.gpioX_mode = GpioMode.ANALOG_IN
before it can be used as an analog input.
To read the voltage on GPIO1 in odrivetool the following would be entered: odrv0.get_adc_voltage(1)
.
Similar to RC PWM input, analog inputs can also be used to feed any of the numerical properties that are visible in odrivetool
.
This is done by configuring odrv0.config.gpio3_analog_mapping
and odrv0.config.gpio4_analog_mapping
.
Refer to RC PWM for instructions on how to configure the mappings.