20211114_GIMBAL_ODRIVE.json

{"axis0": {"acim_estimator": {"config": {"slip_velocity": 14.706000328063965}}, "config": {"dir_gpio_pin": 2, "enable_sensorless_mode": false, "enable_step_dir": false, "enable_watchdog": false, "startup_closed_loop_control": true, "startup_encoder_index_search": false, "startup_encoder_offset_calibration": true, "startup_homing": false, "startup_motor_calibration": true, "step_dir_always_on": false, "step_gpio_pin": 1, "watchdog_timeout": 0.0, "calibration_lockin": {"accel": 20.0, "current": 10.0, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 40.0}, "can": {"encoder_rate_ms": 10, "heartbeat_rate_ms": 100, "is_extended": false, "node_id": 0}, "general_lockin": {"accel": 20.0, "current": 10.0, "finish_distance": 100.0, "finish_on_distance": false, "finish_on_enc_idx": false, "finish_on_vel": false, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 40.0}, "sensorless_ramp": {"accel": 200.0, "current": 10.0, "finish_distance": 100.0, "finish_on_distance": false, "finish_on_enc_idx": false, "finish_on_vel": true, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 400.0}}, "controller": {"config": {"axis_to_mirror": 255, "circular_setpoint_range": 1.0, "circular_setpoints": false, "control_mode": 3, "electrical_power_bandwidth": 20.0, "enable_current_mode_vel_limit": true, "enable_gain_scheduling": false, "enable_overspeed_error": true, "enable_vel_limit": true, "gain_scheduling_width": 10.0, "homing_speed": 0.25, "inertia": 0.0, "input_filter_bandwidth": 2.0, "input_mode": 1, "load_encoder_axis": 0, "mechanical_power_bandwidth": 20.0, "mirror_ratio": 1.0, "pos_gain": 13.25, "spinout_electrical_power_threshold": 10.0, "spinout_mechanical_power_threshold": -10.0, "steps_per_circular_range": 1024, "torque_mirror_ratio": 0.0, "torque_ramp_rate": 0.009999999776482582, "vel_gain": 0.3667333424091339, "vel_integrator_gain": 0.0833333358168602, "vel_limit": 7.0, "vel_limit_tolerance": 1.2000000476837158, "vel_ramp_rate": 1.0, "anticogging": {"anticogging_enabled": true, "calib_anticogging": false, "calib_pos_threshold": 1.0, "calib_vel_threshold": 1.0, "cogging_ratio": 1.0, "index": 0, "pre_calibrated": false}}}, "encoder": {"config": {"abs_spi_cs_gpio_pin": 1, "bandwidth": 1000.0, "calib_range": 0.019999999552965164, "calib_scan_distance": 50.26548385620117, "calib_scan_omega": 12.566370964050293, "cpr": 8192, "direction": 1, "enable_phase_interpolation": true, "find_idx_on_lockin_only": false, "hall_polarity_calibrated": false, "hall_polarity": 0, "ignore_illegal_hall_state": false, "index_offset": 0.0, "mode": 0, "phase_offset_float": 0.5561320185661316, "phase_offset": 5235, "pre_calibrated": false, "sincos_gpio_pin_cos": 4, "sincos_gpio_pin_sin": 3, "use_index_offset": true, "use_index": true}}, "max_endstop": {"config": {"debounce_ms": 50, "enabled": false, "gpio_num": 0, "is_active_high": false, "offset": 0.0}}, "mechanical_brake": {"config": {"gpio_num": 0, "is_active_low": true}}, "min_endstop": {"config": {"debounce_ms": 50, "enabled": false, "gpio_num": 0, "is_active_high": false, "offset": 0.0}}, "motor": {"config": {"I_bus_hard_max": Infinity, "I_bus_hard_min": -Infinity, "I_leak_max": 0.10000000149011612, "R_wL_FF_enable": false, "acim_autoflux_attack_gain": 10.0, "acim_autoflux_decay_gain": 1.0, "acim_autoflux_enable": false, "acim_autoflux_min_Id": 10.0, "acim_gain_min_flux": 10.0, "bEMF_FF_enable": false, "calibration_current": 8.0, "current_control_bandwidth": 1000.0, "current_lim_margin": 8.0, "current_lim": 8.0, "dc_calib_tau": 0.20000000298023224, "inverter_temp_limit_lower": 100.0, "inverter_temp_limit_upper": 120.0, "motor_type": 2, "phase_inductance": 0.0, "phase_resistance": 15.0, "pole_pairs": 7, "pre_calibrated": true, "requested_current_range": 60.0, "resistance_calib_max_voltage": 2.0, "torque_constant": 0.03999999910593033, "torque_lim": Infinity}, "fet_thermistor": {"config": {"enabled": true, "temp_limit_lower": 100.0, "temp_limit_upper": 120.0}}, "motor_thermistor": {"config": {"enabled": false, "gpio_pin": 4, "poly_coefficient_0": 0.0, "poly_coefficient_1": 0.0, "poly_coefficient_2": 0.0, "poly_coefficient_3": 0.0, "temp_limit_lower": 100.0, "temp_limit_upper": 120.0}}}, "sensorless_estimator": {"config": {"observer_gain": 1000.0, "pll_bandwidth": 1000.0, "pm_flux_linkage": 0.0015800000401213765}}, "trap_traj": {"config": {"accel_limit": 0.5, "decel_limit": 0.5, "vel_limit": 2.0}}}, "axis1": {"acim_estimator": {"config": {"slip_velocity": 14.706000328063965}}, "config": {"dir_gpio_pin": 8, "enable_sensorless_mode": false, "enable_step_dir": false, "enable_watchdog": false, "startup_closed_loop_control": true, "startup_encoder_index_search": false, "startup_encoder_offset_calibration": true, "startup_homing": false, "startup_motor_calibration": true, "step_dir_always_on": false, "step_gpio_pin": 7, "watchdog_timeout": 0.0, "calibration_lockin": {"accel": 20.0, "current": 10.0, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 40.0}, "can": {"encoder_rate_ms": 10, "heartbeat_rate_ms": 100, "is_extended": false, "node_id": 0}, "general_lockin": {"accel": 20.0, "current": 10.0, "finish_distance": 100.0, "finish_on_distance": false, "finish_on_enc_idx": false, "finish_on_vel": false, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 40.0}, "sensorless_ramp": {"accel": 200.0, "current": 10.0, "finish_distance": 100.0, "finish_on_distance": false, "finish_on_enc_idx": false, "finish_on_vel": true, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 400.0}}, "controller": {"config": {"axis_to_mirror": 255, "circular_setpoint_range": 1.0, "circular_setpoints": false, "control_mode": 3, "electrical_power_bandwidth": 20.0, "enable_current_mode_vel_limit": true, "enable_gain_scheduling": false, "enable_overspeed_error": true, "enable_vel_limit": true, "gain_scheduling_width": 10.0, "homing_speed": 0.25, "inertia": 0.0, "input_filter_bandwidth": 2.0, "input_mode": 1, "load_encoder_axis": 1, "mechanical_power_bandwidth": 20.0, "mirror_ratio": 1.0, "pos_gain": 13.25, "spinout_electrical_power_threshold": 10.0, "spinout_mechanical_power_threshold": -10.0, "steps_per_circular_range": 1024, "torque_mirror_ratio": 0.0, "torque_ramp_rate": 0.009999999776482582, "vel_gain": 0.3667333424091339, "vel_integrator_gain": 0.0833333358168602, "vel_limit": 7.0, "vel_limit_tolerance": 1.2000000476837158, "vel_ramp_rate": 1.0, "anticogging": {"anticogging_enabled": true, "calib_anticogging": false, "calib_pos_threshold": 1.0, "calib_vel_threshold": 1.0, "cogging_ratio": 1.0, "index": 0, "pre_calibrated": false}}}, "encoder": {"config": {"abs_spi_cs_gpio_pin": 1, "bandwidth": 1000.0, "calib_range": 0.019999999552965164, "calib_scan_distance": 50.26548385620117, "calib_scan_omega": 12.566370964050293, "cpr": 8192, "direction": 1, "enable_phase_interpolation": true, "find_idx_on_lockin_only": false, "hall_polarity_calibrated": false, "hall_polarity": 0, "ignore_illegal_hall_state": false, "index_offset": 0.0, "mode": 0, "phase_offset_float": 0.5561320185661316, "phase_offset": 5235, "pre_calibrated": false, "sincos_gpio_pin_cos": 4, "sincos_gpio_pin_sin": 3, "use_index_offset": true, "use_index": true}}, "max_endstop": {"config": {"debounce_ms": 50, "enabled": false, "gpio_num": 0, "is_active_high": false, "offset": 0.0}}, "mechanical_brake": {"config": {"gpio_num": 0, "is_active_low": true}}, "min_endstop": {"config": {"debounce_ms": 50, "enabled": false, "gpio_num": 0, "is_active_high": false, "offset": 0.0}}, "motor": {"config": {"I_bus_hard_max": Infinity, "I_bus_hard_min": -Infinity, "I_leak_max": 0.10000000149011612, "R_wL_FF_enable": false, "acim_autoflux_attack_gain": 10.0, "acim_autoflux_decay_gain": 1.0, "acim_autoflux_enable": false, "acim_autoflux_min_Id": 10.0, "acim_gain_min_flux": 10.0, "bEMF_FF_enable": false, "calibration_current": 8.0, "current_control_bandwidth": 1000.0, "current_lim_margin": 8.0, "current_lim": 8.0, "dc_calib_tau": 0.20000000298023224, "inverter_temp_limit_lower": 100.0, "inverter_temp_limit_upper": 120.0, "motor_type": 2, "phase_inductance": 0.0, "phase_resistance": 15.0, "pole_pairs": 7, "pre_calibrated": true, "requested_current_range": 60.0, "resistance_calib_max_voltage": 2.0, "torque_constant": 0.03999999910593033, "torque_lim": Infinity}, "fet_thermistor": {"config": {"enabled": true, "temp_limit_lower": 100.0, "temp_limit_upper": 120.0}}, "motor_thermistor": {"config": {"enabled": false, "gpio_pin": 4, "poly_coefficient_0": 0.0, "poly_coefficient_1": 0.0, "poly_coefficient_2": 0.0, "poly_coefficient_3": 0.0, "temp_limit_lower": 100.0, "temp_limit_upper": 120.0}}}, "sensorless_estimator": {"config": {"observer_gain": 1000.0, "pll_bandwidth": 1000.0, "pm_flux_linkage": 0.0015800000401213765}}, "trap_traj": {"config": {"accel_limit": 0.5, "decel_limit": 0.5, "vel_limit": 2.0}}}}