Find the correct device serial number to use:. This procedure is only necessary for ODrive v3. You should have received one with your ODrive. If everything worked correctly, you should see something similar to this towards the end of the printout:.
Liveplotter is used for the graphical plotting of odrive parameters i. To start liveplotter, close any other instances of liveplotter and run odrivetool liveplotter from a new anaconda prompt window.
By default two parameters are plotted on startup; the encoder position of axis 1 and axis 2. For example, to plot the approximate motor torque [Nm] and the velocity [RPM] of axis0, you would modify the function to read:. In the example below the motor is forced off axis by hand and held there. In response the motor controller increases the torque orange line to counteract this disturbance up to a peak of N.
When the motor is released it returns back to its commanded position very quickly as can be seen by the spike in the motor velocity blue line. I had the same issue! But i figured it out. Load cleanflight and get your firmware ready and check no reboot sequence flash on connect full chip erase and manual baud rate Make sure your boot pins are soldered and then when you plug it in it auto flashes.
Google ImpulseRc Driver fixing tool. Just leave it plugged in then open Betaflight and flash away. I did that with Zadig. But now in non flash mode: Windows 10 does not recognize Flight Controller. No Comport available and it is not showing in Device Manager.
Naze32 Rev6 wont connect to computer via usb. This step may take about 20 min. After it finds out, click Install. Click this to import the OpenCR Board source.
This step shows the port setting for the program uploads. At the same moment, the modem-related packages of the Linux will send the AT command to manage the device. Thus indicates an connection error on the OpenCR, so this step should be done previously.
Install of the OpenCR package. Proper driver will be automatically installed. The Arduino IDE for Windows is available as an installation version and a compressed version, so you can install it using your preferred method. The pin number is defined as below, so you can see the status of the current button when you input the data of that pin.
It outputs the melody according to the scale defined in the pitches. OpenCR has the same pin configuration as Arduino Uno. The PWM output is also mapped to the same port. Therefore, analogueWrite is used to output the PWM duty ratio to the corresponding ports. The resolution is 8 bits, from 0 to , and the frequency is 50 KHz.
The method of emulation was provided by ST as an example. Two sectors are used. When storing data, it is always stored in the new location. As a result, the number of flash memory erasures is reduced, thereby increasing the write-through life. For more information on how to use it, please refer to the Adunion site. OpenCR is used for power and sensor control in OP3, a humanoid robot.
Install through the following link document. Click on the icon in the Arduino IDE that displays the red circle in the following figure to build and download the firmware.
When the download is completed, the firmware is automatically executed. The firmware that is provided as a basic example of OpenCR is read-only. If you want to edit it, you have to save it to a new folder and work on it. Save it to a new folder and edit it. Once editing is complete, repeat the process of building and downloading the firmware.
LED turns off in bright place. If it is dark place, the LED turns on. As of this post, there are three firmware versions 0. Finally, we'll flash the BLE firmware. We can get to the Firmware Upgrade Service FUS by clicking the wifi-looking icon on the left menu; first click 'delete firmware'.
After that operation completes, we'll flash FW 1. This could mean you're trying to upgrade the firmware to an image that isn't allowed from the current firmware like 'upgrading' to the same image, or skipping firmware version 1. Try it a couple times if you get this warning; if it persists, file it away and go on to the next step.
If that fails too you can come back to this. We can then try and upgrade again to the latest version of the firmware, at the same memory address:. Finally, we install the BLE full stack at 0xCB with 'first install' checked, repeating the process above.
As a note, it is also possible to do this from the command line with the tools installed alongside CubeProgrammer. Some example commands that have worked for me to flash the firmware over DFU in Windows are shown here:. Simply pick the file, enter a start address of 0x , and click 'Start Programming'.
Now that we know we have the working BLE firmware and working code, and a way to test the STM32 example, let's try to import an example into CubeIDE where we can edit the C code and then download it to the Nucleo, and see if we get the same results.
If you hit 'okay' through the next few dialogs, you should have a project that will build and debug, connecting once again to the app! Make sure that your Nucleo board connects, that you can't see the HRSTM, and that it appears once you 'continue' the debug after programming. There are a surprising number of ways to get hung up at this step, and imported projects aren't structured as nicely as CubeIDE-native IOC-based projects. React-Native makes things nice and easy to develop across platforms.
Expo is an environment that will let you write and hot-reload code from your browser and push changes to the app store; it's a really great tool. Unfortunately Expo doesn't support BLE. Also unfortunately, you can't test your code in the iphone simulator included in XCode; they don't have support for interfacing with bluetooth on your Apple computer. That means we need to do our testing live on a real iPhone, and we need a developer account to push things to a real phone.
To do this we need a developer account, XCode, react-native, and polidea's ble plx react native library. Install Xcode from the App Store or older versions from here if the latest version isn't compatible with your OS version and you don't want to upgrade. From a terminal install xcode command line tools with xcode-select --install.
You also have to accept the xcode license with sudo xcodebuild -license. Go to the Accounts tab, and add your developer account which you might have to register for if you don't have one. Click manage certificates and add one using the add button at the bottom— this will give you a certificate for this computer.
Now we can open this is Xcode— click on the. Open the main project folder and the Info. No need to fill in the description string. Next we select the high level project the one with the blue icon in the left project explorer and click Signing and Capabilities. From this menu we can select ' Uses BLE accessories' as seen below:.
Now we'll set our target to our actual iPhone. You should also be able to select it from the top bar of Xcode. Now let's hit the play button and see if it builds and loads onto our phone!
What should happen is that a terminal opens with the React logo. After you wait a minute or two, the example app should appear on your phone.
Shake it, and hit ' Debug '. We should be able to reload the app again from the Shake menu after refreshing the debugger site and see the same logging in our browser console that we see below. Troubleshooting: if you get a modulemap error, you probably didn't open the project from the. Do that instead. We'll start by verifying we can accept data over BLE from the heart rate example we already have running on the Nucleo board.
In our main, top-level project directory, we'll add a BLE. Within BLE. After creating this component, we can integrate them into the 'getting started' app by editing the App.
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