test the microdrive board

[dvogureckiy99]

Сode for microdrive for calibrating motors doesn't work.
I try run example.py from the masterboard-sdk directlya and motor merely a little twitching back and forth. At the same time, I want to note that after flashing the microdriver at the first power supply, no calibration was visible, but in debugging mode I see that function for calibrating HAL_cal invoked, but there are red line on the left edge.

[dvogureckiy99]

Thank Thomas Flayols, switching two phases on the motor helped me. But whether I reverse phase order programmaticly?

[luator]

Hello, I'm not sure if I understand your question correctly. Are you asking if it is possible to switch the motor phases in the software? As far as I know there is know option for this, the phases have to be connected in the right order physically.

[dvogureckiy99]

Hello, I'm not sure if I understand your question correctly. Are you asking if it is possible to switch the motor phases in the software? As far as I know there is know option for this, the phases have to be connected in the right order physically.

Yes, I already understood it,but on many of an other boards, like Odrive, there is exist this functionality. Maybe there is possibility to implement it on this board?

[thomasfla]

Hi,
Sorry, we did not implement phases switch programmatically.
Here is an element of why:
The way we communicate with the boards is by exchanging a fixed shape, compact and fast SPI bidirectional transaction. We don't have a flexible way to reprogram the settings of the board, such as: motor R and L, number of pole pairs, phase order etc..
Instead, those parameters are set at compile time before flashing the boards.
This motor board was intended to be tight to a motor type, and is not as generic as Odrive for example.
On the plus side, we have a very well optimized communication to do real time control at high frequency.

We are developing a new electronic (OMODRI) that will make life easier to implement other communication buses for configuration etc.

We have no plan to implement this features on this electronic. We think that identifying once the phase order and marking the wire is not a huge constrained for ODRI robot at this time.

[dvogureckiy99]

Thank you for answer.
Can you explain where or from where (which files) I can set up, change this parameters?
But I saw that there is possibility to set up boards parameters via CAN, is it real?