Gemini ODrive config

ODrive/Gemini.config

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+# Torque control, pole pair and current tweak
+
+# 1. Reset configuration to a clean slate
+odrv0.erase_configuration()
+
+# Cap total board draw at 27A to protect 30A regulatory fuse (3A safety buffer)
+odrv0.config.dc_max_positive_current = 27.0  
+# Max current allowed back into the battery pack during aggressive braking
+odrv0.config.dc_max_negative_current = -20.0 
+
+# --- MOTOR CONFIGURATION (VEVOR 1800W / 2000W OPTIMIZED) ---
+# Axis 0
+odrv0.axis0.motor.config.pole_pairs = 4               # Correct Vevor magnet count
+odrv0.axis0.motor.config.current_lim = 30.0           # Max allowed phase current for torque
+odrv0.axis0.motor.config.calibration_current = 10.0
+odrv0.axis0.motor.config.current_lim_margin = 12.0     # Isolates spikes from throwing a fault
+odrv0.axis0.motor.config.requested_current_range = 45.0 # Gives shunt amps room to read
+odrv0.axis0.motor.config.torque_constant = 0.0919     # Tidied precision (8.27 / 90 KV)
+odrv0.axis0.motor.config.resistance_calib_max_voltage = 6.0
+odrv0.axis0.motor.config.current_control_bandwidth = 100.0 # Low bandwidth stops sensor noise/saturation
+odrv0.axis0.config.I_bus_hard_max = 20.0              # Max battery draw allowed for this single axis
+
+# Axis 1
+odrv0.axis1.motor.config.pole_pairs = 4               
+odrv0.axis1.motor.config.current_lim = 30.0           
+odrv0.axis1.motor.config.calibration_current = 10.0
+odrv0.axis1.motor.config.current_lim_margin = 12.0     
+odrv0.axis1.motor.config.requested_current_range = 45.0 
+odrv0.axis1.motor.config.torque_constant = 0.0919     
+odrv0.axis1.motor.config.resistance_calib_max_voltage = 6.0
+odrv0.axis1.motor.config.current_control_bandwidth = 100.0 
+odrv0.axis1.config.I_bus_hard_max = 20.0              
+
+# --- ENCODER CONFIGURATION (HALL SENSORS) ---
+# Axis 0
+odrv0.axis0.encoder.config.mode = ENCODER_MODE_HALL
+odrv0.axis0.encoder.config.cpr = 24                   # 4 Pole Pairs * 6 = 24
+odrv0.axis0.encoder.config.ignore_illegal_hall_state = True
+odrv0.axis0.encoder.config.calib_scan_distance = 150.0
+odrv0.axis0.encoder.config.bandwidth = 100.0
+
+# Axis 1
+odrv0.axis1.encoder.config.mode = ENCODER_MODE_HALL
+odrv0.axis1.encoder.config.cpr = 24                   
+odrv0.axis1.encoder.config.ignore_illegal_hall_state = True
+odrv0.axis1.encoder.config.calib_scan_distance = 150.0
+odrv0.axis1.encoder.config.bandwidth = 100.0
+
+# --- CONTROLLER CONFIGURATION (TORQUE MODE & GAINS) ---
+# Axis 0
+odrv0.axis0.controller.config.control_mode = CONTROL_MODE_TORQUE_CONTROL
+odrv0.axis0.controller.config.pos_gain = 50.0
+odrv0.axis0.controller.config.vel_gain = 0.1          
+odrv0.axis0.controller.config.vel_integrator_gain = 0.2
+odrv0.axis0.controller.config.vel_limit = 85.0        # Hard RPM safety ceiling (~5200 RPM)
+odrv0.axis0.controller.config.vel_ramp_rate = 30.0    
+
+# Axis 1
+odrv0.axis1.controller.config.control_mode = CONTROL_MODE_TORQUE_CONTROL
+odrv0.axis1.controller.config.pos_gain = 50.0
+odrv0.axis1.controller.config.vel_gain = 0.1         
+odrv0.axis1.controller.config.vel_integrator_gain = 0.2
+odrv0.axis1.controller.config.vel_limit = 85.0        
+odrv0.axis1.controller.config.vel_ramp_rate = 30.0    
+
+# Save and reboot
+print("Saving configuration and rebooting... Reconnect your terminal in a moment.")
+odrv0.save_configuration()
+try:
+    odrv0.reboot()
+except Exception:
+    pass
+
+
+Phase 2: Live Calibration Setup
+
+Wait for the ODrive to reboot and reconnect. Keep the wheels off the ground.
+Python
+
+print("Starting calibration sequence. Motors will beep and turn slowly...")
+odrv0.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE
+odrv0.axis1.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE
+
+# WAIT until the motors finish moving completely before continuing!
+
+Verify everything passed cleanly:
+Python
+
+dump_errors(odrv0)
+print(f"Axis 0 Ready: {odrv0.axis0.encoder.is_ready} | Axis 1 Ready: {odrv0.axis1.encoder.is_ready}")
+
+Phase 3: Lock and Commit (No More Calibrations)
+Python
+
+# Save current calibration state as permanent baseline
+odrv0.axis0.motor.config.pre_calibrated = True
+odrv0.axis0.encoder.config.pre_calibrated = True
+odrv0.axis1.motor.config.pre_calibrated = True
+odrv0.axis1.encoder.config.pre_calibrated = True
+
+# Skip future startup calibrations and arm automatically on power-up
+odrv0.axis0.config.startup_motor_calibration = False
+odrv0.axis0.config.startup_encoder_offset_calibration = False
+odrv0.axis0.config.startup_closed_loop_control = True  
+
+odrv0.axis1.config.startup_motor_calibration = False
+odrv0.axis1.config.startup_encoder_offset_calibration = False
+odrv0.axis1.config.startup_closed_loop_control = True  
+
+odrv0.save_configuration()
+print("Calibration locked! System set to Motorcycle-Style Twist Torque Control.")
+
+Phase 4: Inputs and Controls Configuration
+Twist-Grip Analog Torque Mapping (GPIO 3 & 4)
+Python
+
+# Axis 0 Analog Input (GPIO 3)
+odrv0.config.gpio3_analog_mapping.min = 0.0          # Twist grip at rest = 0.0 Nm (Coasting)
+odrv0.config.gpio3_analog_mapping.max = 75.0         # Full twist = 75.0 Nm max acceleration torque
+odrv0.config.gpio3_analog_mapping.endpoint = odrv0.axis0.controller._input_torque_property
+
+# Axis 1 Analog Input (GPIO 4)
+odrv0.config.gpio4_analog_mapping.min = 0.0          
+odrv0.config.gpio4_analog_mapping.max = 75.0         
+odrv0.config.gpio4_analog_mapping.endpoint = odrv0.axis1.controller._input_torque_property
+
+odrv0.save_configuration()
+print("Twist grip torque mapping complete! Good luck out on the track.")