Pen Plotter using ODrive motor control and ROS2
This repository is dependend on a ROS2 CAN ODrive package found at https://github.com/camrbuss/ros2_odrive_can
Implement in C++ with a(t) and b(t) coming in as discrete measurements, x'(t) and y'(t) being set by the user, and a'(t) and b'(t) being sent to the motor controllers.
float j = -L3 * (std::pow(L1, 2) - std::pow(L2, 2) - std::pow(a, 2) + 2.0 * a * b - std::pow(b, 2)); float k = A1 + std::acos((1.0 / 2.0) * (std::pow(L1, 2) - std::pow(L2, 2) + std::pow(a - b, 2)) / (L1 * (-a + b))); float l = 2.0 * L1 * sqrt(1 - 1.0 / 4.0 * std::pow(std::pow(L1, 2) - std::pow(L2, 2) + std::pow(a - b, 2), 2) / (std::pow(L1, 2) * std::pow(a - b, 2))) * std::pow(a - b, 2); float f = j * std::sin(k) / l; float g = j * std::cos(k) / l; this->a_vel_setpoint_ = x_vel_ - ((-1.0f + f) * y_vel_ / g); this->b_vel_setpoint_ = x_vel_ - ((f * y_vel_) / g);The controls needed to achieve velocity control are sequential. The left bumper correspond to axis 1 and the right bumber to axis 0.
| ID | Button Combination | Function |
|---|---|---|
| 1 | <Left/Right> Bumper + X | E-Stop |
| 2 | <Left/Right> Bumper + Y | Calibrate Axis |
| 3 | <Left/Right> Bumper + A | Request Closed Loop Control |
| 4 | <Left/Right> Bumper + B | Home Axis |
| 5 | <Left/Right> Bumper + Back | Clear Axis Error |
| 6 | Menu | Start Command Loop |
| 7 | <Left/Right> Bumper + D-Pad Left | Set Velocity Control Mode |
| 8 | D-Pad Up | Increment Max Velocity |
| 9 | D-Pad Down | Decrement Max Velocity |
| 10 | Left Joystick | X, Y Velocity Control |
| 11 | Left Joystick Button | Toggle Pen |
- ID2
- ID3
- ID4
- ID4
- ID7
- ID6
- ID10