RoboDog Part 6 | How to Use ODrive BLDC Motor Controller

[@kyebrits2743]

Hey man, I'm a new engineering student and I would love to major in robotics. I just wanted to ask how you learnt all these parts and their functions because apart from this video I've never heard of an O-drive and I really would like to have the knowledge that you do.

[@AustinTronics]

Thank you, that means a lot! You just got to immerse yourself within the robotics community and you'll pick this stuff up over time. To help with this, I have recently (as of a few hours ago) created a discord server so that it's easier for me to engage with the rest of the community who are interested in the RoboDog project, or robotics in general. The link is here: discord.gg/XyfF6khqsN

[@kyebrits2743]

@@AustinTronics thank you, man! I'm going to try to share your channel because I think you're brilliant! Thank you so much for this and I can't wait for your next post!

[@AustinTronics]

@@kyebrits2743 Much appreciated!

[@botak333]

​@@AustinTronicshow do u put encorder ams5048 on the motor??

[@jaredguerrero3632]

The ODrive motor controller seems like the most versatile out of all the ones I’ve worked with before. Thanks for the scripts!

[@trulyspinach]

Appreciate all the work, please keep posting new updates on this project!

[@rodrigoleon-alvarez587]

You're definitely selling me on these ODrive motor controllers, they appear to be equipped with everything you'd realistically need for these types of projects. I'll probably end getting them when working on the mech projects, they seem versatile enough to work with different types of motors. I don't have much experience with coding so providing your scripts will no doubt help me out haha. Sweet remix on the Zelda Fairy Fountain btw!

[@payalpal4386]

I followed the exact steps for driving odrive motor D6374 250kv. As shown in the video, the motor didn't show any result in my case. Can you kindly guide me through this process? All I could figure out is there must be calibration issues because of which the motor's shaft failed to rotate

[@filippus_]

Hey, looking forward to Part 7, theese videos have teached me so much and I cant wait to see the final product :)

[@stochasticsignal1951]

Very cool. I've been interested in the ODrive for a while now. When I get around to using them I'll definitely be back to review this video. I'm looking forward to more videos on the topic.

[@serdar-abali]

​ @AustinTronics I just found your channel. I am another dude digging into biped walking bot and that particular motor is the most suitable for my budget. I hope you did not abandon this project, I have a lot to learn from you and willing to help if you need.

[@AustinTronics]

Thanks for reaching out man! Don't worry, still working on it. Hoping to get the next video out within the next week or two.

[@josemanuelmedajara6670]

Your videos quality is amazing man! Keep going what you do

[@markboweringphotography4408]

I am really enjoying following this series.

[@kleindavid9416]

seriously fucking many thanks for the video - I was trying to get it to work for DAYS, read the documentation, etc... no success. The video helped me to get it to work which is... enormously satisfying! thanks!

[@chrisBruner]

learning so much from you. Keep up the good work!

[@DocGould]

Very Cool, this is coming together very nicely!

[@robertm7952]

Fanstatic overview. Thank you

[@juliermearaujo]

How do you imagine fixing the AS5048 encoder in the inner area of ​​the wheel?

[@DerekDeighton]

Hi, I'm new to robotics, however, I am experimenting with a 2 wheeled (drive/steer) device using hoverboard motors and thoroughly enjoyed watching your channel; first class tutorial and easy to follow - thanks. I'm having issues setting up my oDrive 3.6/56v board and followed your instructions closely to try and resolve the issues I'm experiencing. Really, really helpful; at last I get the beep after motor calibration. Unfortunately that's where it stops! odrivetool accepts the hall sensor calibration steps without error, however, I get no movement of either wheel. This is frustrating as I think I've tried everything. I have checked the hall sensors on both motors and all appears well. Am I missing something, can you advise. I get n o errors when I dump odrv0.

[@ausdruckermail]

Great work thank you for taking the time and explaining this setup. I was wondering i you have run an anti cogging on the hoverboard motors?

[@ausdruckermail]

Oh, my bad i did check the script on github. I had to add a lit to ignore the illegal hall state error. How will this affect the control of the motor? Also, why does this happen for some hoverboard motors only?

[@aughey]

Really curious on how well a secondary encoder works for lower-speed operation. The slow speed movement with the built-in hall effect sensors appears to be quite coarse. These motors should be a excellent "good enough" low-cost option for my DIY experiments if the encoder add-on works well.

[@audiloj]

I added an encoder to the same motor for low speed operation: kzbin.info/www/bejne/bnjTeqh7mLlgh68

[@armstrongskyview2810]

Great project, how is it going and when is the next video coming. Thanks

[@AustinTronics]

It's coming along. You can find out more granular updates on this project in the discord if interested (link under About section). Next video should be out in September.

[@rverm1000]

can it be ran as a propeller at 1000 rpm. with a couple of propeller blades attached?

[@khanatifali1800]

Hi, Great job. Can you make a walking suite type robot for paraplegics using these motors or some exercise machine which replicate walking movement.

[@AustinTronics]

If I was going to use these motors for something like a walking suite, I would definitely want to throughly test these motors under a repetitive load to make sure there aren't any mechanical failures. But theoretically, yah you could if your gear transmission is high enough. If you mean a direct-drive without a gear transmission, then no, probably not.

[@MauroUANL]

were you able to find a way to mount the encoders on the motors?

[@icegoogles]

Very cool video! But somehow the link to the code is not working, and I can't find it in the repo

[@AustinTronics]

Sorry, been re-organizing the code for the RoboDog project so it's not a massive git repo. I updated the description, the link should work now.

[@alexmilitary95]

hello austin. nice project i love robots but i don't have the programming skills to build one. I have always wanted to build a hexapode and so a question came to my mind using this hoverboard motor system is it possible to load a person's load on a robot of this type, whether it is a quadruped or a hexapod? probably not possible in direct drive configuration but using planetary gearmotors and toothed belts should you be able to get enough torque to carry a large load? sorry my english but i write with a translator

[@NathanBuildsRobots]

I bought an odrive last year. Need to get some of those hoverboard motors. Do you know of a good place to buy them? Edit: Found your other video that had links to ebay. A+

[@sabzimatic]

Great video. How to drive 2 or more motors at the same time? what command to give to odrive? Thank you.

[@AustinTronics]

To control the 2nd motor, simply replace commands that have axis0 in them with axis1.

[@UnidudeNine]

Good call on using a hoverboard motor for cost savings. The gear reduction will make or break your project though. Pay careful attention to this step.

[@wishywasher1330]

were you able to run an anticogging calibration on this motor?

[@AustinTronics]

Yes, I showed anticogging in more detail in the 10th video. Basically I need a higher res encoder to take full advantage of anticogging...the hall sensors built into the hoverboard motors don't have enough resolution for the anticogging algorithm.

[@joebolling]

What if I want to use it as a super powerful gyroscope to balance my robot?

[@mafteisebastian]

Hey man, great video! I want to use o-drive for an autonomus robotic platform. I have 4 BLDC 36V/350W wheels. I've tried to use it with a cheap driver controller powered at 24V but I didn't have enough torque. So, for these wheels I should buy a 24 or a 48V o-drive?

[@AustinTronics]

Definitely 48v. It's usually better for your motor controller to be rated at the same or higher than the voltage you actually plan on using. You can run a 48v odrive at 36 volts, but you shouldn't run a 24v odrive at 36 volts.

[@the444flavour9]

Hi @AustinTronics, what power supply do these hub motors require, if you are not using the odrive?

[@AustinTronics]

The hoverboard motors I have are rated at 350 Watts. You don't have to use the Odrives, but you need some sort of brushless DC controller in the middle between your power supply and the motor to created the 3 phase signal that the hoverboard motor is expecting. I think I was using a 24 V power supply with the Odrives, but I could have gone even higher in voltage if I had a larger power supply. If you wanted a more customizable and portable power supply, you could use a clustered array of 18650 lithium polymer cells, but you need to be careful with those, you would probably want some battery management system to make sure your charging and disapating the cells equally.

[@highwaltage]

since they are 36v rated. are you running 36v? if not may as well rewind the motors to a much lower kv with thinner wire.

[@AustinTronics]

I will be running it at that voltage in the actual design, but my power supply doesn't go that high.

[@jonathanjesalva9637]

Hi! I tried running closed loop control but the motor does not spin or resist as shown in your video. Do you have any suggestions to solve this problem?

[@AustinTronics]

Print the odriv object your using (odriv0 or odriv1) like I did in the video to see if there is an error in any of the error attributes.

[@jdow1234567]

Great video! Unfortunately you can't follow along using the current odrive firmware version because the encoder calibration gets an ILLEGAL_HALL_STATE error. You'll need to put firmware version 0.5.1 on your odrive (which is the version used in the video). I made a post about this issue and how to fix it on the odrive forum. I tried to leave a comment here with a link to the instructions but it keeps getting deleted for some reason by the youtube moderators.

[@bano99]

What do I need to search for to find your post? I've firmware 0.5.6 and I will alway run into the ILLEGAL_HALL_STATE error, no matter if I follow this tutorial or the one from the odrive website. I even tried playing with the 22nF and 47nF capacitors, still no luck. Thank you

[@danielcieplenski4736]

Nice video, some of the links are failing? has the content changed

[@AustinTronics]

The new link for the ODrive config can be found here: github.com/AustinOwens/odrive_config

[@chrisarmstrong2721]

Hi, fantastic project. Are you still working on it

[@AustinTronics]

Yup, still working on it. Creating the videos often lags behind the progress I am making.

[@csqgb9801]

how to use original pcb to run odrive?

[@OceanPictures]

How are you considering motor duty cycle impacts on your system?

[@AustinTronics]

I was planning on drilling holes in the metal hub to get better airflow. If it gets too hot, I was considering using forced convection with a fan.

[@thenotionlab]

Hello, I’m having some issues running the python script, can you offer any input

[@AustinTronics]

Sure, what's your issue?

[@dachoeks3]

Do you have updated location for the python script? Thanks!

[@AustinTronics]

Sorry about that, it's located here now: github.com/AustinOwens/odrive_config

[@_Bernardo]

Man... this video is exactly what I needed! subd and liked. Great work and thank you! Do you by chance know if there are ROS libraries/Packages for the ODrive? Right now seems like i'll need to write it myself...

[@AustinTronics]

Glad you liked it! As for the ROS libraries/packages for ODrive, I haven't messed around with that stuff, but I did come across a repo on Github that looks promising for creating a ROS node for ODrive. It's located here: github.com/neomanic/odrive_ros. After some searching, it seems like it hasn't been updated because it is already stable and doesn't need modification. You can read up more about it here: discourse.odriverobotics.com/t/ros-node-for-odrive/3995

[@jan7073]

Hey, just wondering if this project is still alive. I'd love to see it completed :)

[@AustinTronics]

It is. Just have been super busy with other stuff. I'll post an update sometime within next month.

[@jan7073]

@@AustinTronics Great :) Keep it up man, such a great idea btw to use Hoverboard motors o:

[@jan7073]

@@AustinTronics Im missing this series :(

[@did3d523]

not enoought position resolution on 1 turn... will not work

[@Sameerasif1001]

Thank you this information was very helpful to configure my hoverboard motor please help me with setting with Arduino

[@vell0cet517]

Are you still working on this project? It's been a great series so far.

[@AustinTronics]

Definitely. The video editing, scripting, animation, etc. often lags behind the actual development of what I've done so far for the robot. Plan on putting some videos out soon.

[@anthonycortes5093]

attributeError: "torque_constant not found ", what should I do to troubleshot his error, any help would be helpful , thanks for the great video

[@anthonycortes5093]

Also when I type in "inodrv0.axis0.motor.config." then press the tab key "torque_constant" is not an option for me

[@AustinTronics]

@@anthonycortes5093 You have outdated firmware on your odrive. You need to update it with the 'dfu' command like what I show at 2:16 in the video. It probably wouldn't hurt to also upgrade your odrive python library as well.

[@alloffinyaify]

I'm am trying to turn the hub motor into a hydro generator. I have 6 hub motors my goal is to produce 5kw any suggestions.

[@AustinTronics]

That's an interesting idea. I'll make a brief video about it and post it up tonight.

[@alloffinyaify]

@@AustinTronics thanks

[@AustinTronics]

Here's the video: kzbin.info/www/bejne/r4PIc6p3o8abjdE&ab_channel=AustinTronics

[@Kyle-vq7qt]

Have you had any luck with the AS5048a encoders? I'm trying to get them to work on my o-drive setup but haven't had much luck yet. Also, amazing video, I'm looking forward to seeing what's next!

[@AustinTronics]

Haven't done that part yet. Currently working on video involving getting things up and running with the Zybo board from scratch (coming soon!). The AS5048a encoder coupled with Odrive will be the video after that.

[@Kyle-vq7qt]

@@AustinTronics Sounds good, thank you

[@nghiakhac6530]

Hi, Do you run in Linux or Win ? I'm runing in python 3.6 - Window, but I can't. Please help me

[@AustinTronics]

Please join the discord, it will be a lot easier for me to help you with your issue there.

[@nghiakhac6530]

​@@AustinTronics well, thanks

[@linuxnep1777]

This is indeed amazing. My odrive motor controller came in yesterday and I am trying to set it. Unfortunately, my hoverboard came with 6 wires hall sensor, and there is no port in the odrive controller to connect the sixth wire. I did not connect the sixth wire which is supposedly for temperature control. The motor calibration was fine without errors, but I got the following error when i checked for the encoder. In [28]: odrv0.axis0.encoder.error Out[28]: 512 Could you please help me to solve this problem?. I guess the problem is from the sixth encoder wire that isn't connected but I do not know if there is other port in odrive controller that I can connect it. Thank you in advance

[@AustinTronics]

I don't believe you need that temp signal connected to the Odrive for it to work properly. Did you make sure you updated the firmware on the Odrive and any Python libraries you have regarding Odrive on your host computer?

[@linuxnep1777]

@@AustinTronics I was able to fix the errors but the motors don't go to AXIS_STATE_CLOSED_LOOP_CONTROL when requested and hence my motors don't spin thereafter. I am wondering what parameter that I would need to change to enable the motors to go to a closed-loop control state when requested. Any help would be appreciated.

[@rklauco]

Your pid loop does not look ok to me - the reaction when you remove the force on the motor suggest there is some room left there.

[@AustinTronics]

Oh absolutely! This is just a starting point. I'll refine this as I start putting more of the system together and I'll update the Python code on the repo accordingly.

[@mah_0073]

Hye... thanks for this script...but i got a problem...there is error which is 16 ....can you help me to program this? i also use 3 phase motor and has 15 pole pairs

[@AustinTronics]

Can you elaborate on what error you're actually getting? What's the actual error message?

[@mah_0073]

alright..later i will tell...I have 1 question to ask...Can you list the hardware needed to program the odrive with motor?

[@mah_0073]

For now... the hardware that i use 1. 3 phase motor 2. odrive v3.6 3. power supply 4. resistor There is another hardware needed like arduino or other?

[@mah_0073]

can i get your contact number... WhatsApp or other...

[@AustinTronics]

@@mah_0073 Sure, join the AustinTronics discord and we can chat more freely there: discord.com/invite/XyfF6khqsN

[@benjammin5055]

The link to your github is broken... Is there another? thanks

[@AustinTronics]

Sorry, moved things around in the repo and it broke the links. Here's the new link: github.com/AustinOwens/robodog/blob/main/odrive/configs/odrive_hoverboard_config.py I've updated the link in the description as well.

[@Panini_Maker420]

is this 2 or 3 dof each leg?

[@AustinTronics]

3

[@nghiakhac6530]

Help me, Can i use a spi encoder ??

[@AustinTronics]

Yes you can! Here is more info about it: docs.odriverobotics.com/encoders

[@nelsondisalvatore9812]

Hi, so....how is the robot going???

[@AustinTronics]

I built my own OS for it :D I'm releasing a video about how I did that allowing anyone to follow along so they can make their own OS for their own embedded system. Stay tuned.

[@nelsondisalvatore9812]

@@AustinTronics Awesome dude!

[@iqrobotics8960]

I am still waiting for New video 😭

[@AustinTronics]

I'm sorry to keep you and others waiting :'(. If there has been one thing I've learned about this process, it's how long it takes to properly animate/edit a video. I am almost finished, you should see a new RoboDog video within the next two weeks.

[@iqrobotics8960]

@@AustinTronics thanks ☺️ i am waiting for New video

[@kamranrashid8593]

Thanks

[@leizhao1387]

cooooool

[@larsandersen5505]

Very interesting

[@raymondzhao9557]

interesting

[@zacharyfunes651]

I think I love you

[@AustinTronics]

Lol

[@manigoyal4872]

Waiting ...

[@AustinTronics]

Sorry for the wait, a new video has been posted.

[@iqrobotics8960]

Hi sir

[@AustinTronics]

Hello