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Kono/ODriveHardware

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MIT

ODriveHardware

This project is all about accuratly driving brushless motors, for cheap. The aim is to make it possible to use inexpensive brushless motors in high performance robotics projects. Like this (click for video): Servo motor control demo

If you want to get your hands on a board, check out this post.

This repository contains the circuit board design of ODrive. The other related repositories are:

  • ODriveFirmware: Firmware that runs on the board.
  • ODrive: Configuration and analysis scripts that runs on a PC.

There is also ODriveFPGA, which contains the FPGA logic and software that runs on the FPGA based ODrive. This is not currently in development, but may be resumed at some later date.

Odrive v3 board

The pinout from the microcontroller to the board is documented here.

Pictures!

Odrive v3.1 top Odrive v3.1 bottom

ODrive v3.1 errata

  • The silkscreen labels for the encoders (M0, M1) are reversed.
  • The output impedence of the current amplifiers were not considered when designing the post-amplifier filters. Hence the response is about 5x slower than designed. Max allowed modulation index is therefore about 50%.
The MIT License (MIT) Copyright (c) 2016 Oskar Weigl (madcowswe) Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

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ODrive硬件设计文件 展开 收起
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