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test-rig-ss4.yaml
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test-rig-ss4.yaml
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components:
- type: generalpurpose
name: homenet
net: homenet
- type: generalpurpose
name: rpi
ssh: odrv
net: homenet
components:
- type: uart
name: uart0
port: /dev/ttyS0
connected-to: main_uart
# need to specify GPIOs explicitly for the generalpurpose type
- {type: gpio, num: 4}
- {type: gpio, num: 18}
- {type: gpio, num: 23}
- type: odrive
name: odrive
board-version: v4.1-58V
serial-number: "206730814E53"
brake-resistance: 0.0
usb: auto
can: main_canbus
vbus-voltage: 24 # [V]
max-brake-power: 0 # [W]
encoder0: virtual_encoder0
motor0: D5065-270KV_0
- type: motor
name: D5065-270KV_0
phase-resistance: 0.039
phase-inductance: 1.57e-05
pole-pairs: 7
direction: 1
kv: 270
max-current: 70
max-voltage: 40
- type: encoder
name: real_encoder
cpr: 8192
max-rpm: 7000
- type: arduino
name: teensy
board-version: teensy:avr:teensy41
- {type: lpf, name: lpf0}
- {type: lpf, name: lpf1}
connections:
- ['teensy.program', 'rpi.gpio4']
- ['teensy.gpio14', 'rpi.uart0.tx']
- ['teensy.gpio15', 'rpi.uart0.rx']
- ['teensy.gpio16', 'rpi.gpio18']
- ['teensy.gpio17', 'rpi.gpio23']
# J8
- ['teensy.gpio0', 'odrive.gpio6']
- ['teensy.gpio1', 'odrive.gpio5']
- ['teensy.gpio2', 'odrive.gpio4']
- ['teensy.gpio3', 'odrive.gpio3']
- ['teensy.gpio4', 'odrive.gpio0']
- ['teensy.gpio5', 'odrive.gpio1']
- ['teensy.gpio6', 'odrive.gpio2']
- ['teensy.gpio8', 'odrive.gpio16']
- ['teensy.gpio9', 'odrive.gpio17']
- ['teensy.gpio10', 'odrive.gpio18']
- ['teensy.gpio11', 'odrive.gpio19']
- ['teensy.gpio12', 'odrive.gpio20']
- ['teensy.gpio24', 'odrive.gpio21']
- ['teensy.gpio25', 'odrive.gpio22']
- ['teensy.gpio26', 'odrive.gpio10']
- ['teensy.gpio27', 'odrive.gpio11']
- ['teensy.gpio28', 'odrive.gpio15']
- ['teensy.gpio29', 'odrive.gpio14']
- ['teensy.gpio30', 'odrive.gpio13']
- ['teensy.gpio31', 'odrive.gpio12']
- ['teensy.gpio33', 'odrive.gpio8']
- ['teensy.gpio34', 'odrive.gpio7']
- ['teensy.gpio35', 'odrive.gpio9']
- ['teensy.gpio23', 'real_encoder.b']
- ['teensy.gpio22', 'real_encoder.a']
- ['teensy.gpio21', 'real_encoder.z']
- ['odrive.axis0', 'D5065-270KV_0.phases']
- ['D5065-270KV_0.shaft', 'real_encoder.shaft']
- ['odrive.encoder0.a', 'odrive.gpio0']
- ['odrive.encoder0.b', 'odrive.gpio5']
- ['odrive.encoder0.z', 'odrive.gpio6'] # TODO
# - ['odrive.encoder1.a', 'odrive.gpio0']
# - ['odrive.encoder1.b', 'odrive.gpio5']
# - ['odrive.encoder1.z', 'odrive.gpio6'] # TODO