ODrive Modular Component

This module implements the motor driver for ODrive Robotics' ODrive S1 and ODrive Pro motors to be used with viam-server. It only supports serial connectivity. ODrive clones, such as ODESC, may work as well but are not tested.

Getting Started

The motor must first be wired, configured, and calibrated following Odrive instructions.

Before configuring your board, you must create a machine.

Navigate to the CONFIGURE tab of your machine in the Viam app.

Model viam:odrive:serial

Attributes

The following attributes are available for the motor resources available in the Viam ODrive module:

Name	Type	Inclusion	Description
serial_number	string	Optional	The serial number of the ODrive. Can be found using the odrivetool. Will be auto-discovered if not provided. Required if multiple motors are connected.
odrive_config_file	string	Optional	Filepath of a separate JSON file containing your ODrive's configuration. Overrides settings stored in memory. Typically exported using the odrivetool backup-config command.
overrides	object	Optional	Additional configuration overrides in key/value format. See example below.

Example:

{
  "serial_number": "NUM000",
  "odrive_config_file": "local/path/to/motor/config.json",
  "overrides": {
    "axis0.controller.config.vel_limit": 1,
    "axis0.config.watchdog_timeout": 2,
    "axis0.config.enable_watchdog": true
  }
}

Note
There are three levels of motor configuration:

1. Configuration stored in the ODrive controller's memory, set by the odrivetool.
2. Optionally, you can define an odrive_config_file to override the memory settings (useful if you prefer to manage settings yourself or share settings across motors).
3. Finally, you can use the overrides configuration to fine-tune individual settings (especially useful for testing and manual calibration).

Important
You must define axis0.controller.config.vel_limit (velocity limit, in rotations per second) in your motor configuration to use the SetPower command. The SetPower command uses velocity control to set a target velocity as a percentage of the configured axis0.controller.config.vel_limit value.

Next Steps

• To test your ODrive motor, go to the Control tab.
• To write code against your ODrive motor, use one of the available SDKs.
• To view examples using a motor component, explore these tutorials.

License

Copyright 2021-2023 Viam Inc.

Apache 2.0 - See LICENSE file