Team 2n Testbench

Finger design, fabrication and control of 2n configured finger with tendon-driven actuators. This repository should contain all of the software required for the project

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Hardware

• 2 DOF finger
• 4 ODrive Pro
• 4 BLDC Motors
• 4 AMS SPI Encoders
• Emergency Stop
• 24V to 12V custom power board
• Connecting wires, connectors and crimps

Repository Structure

• include: Includes header files for all classes used
• UI: Python files used for user interface and serial interfacing
• lib: Contains any external libraries used
• test: Containts any tests utilized
• src: Source code used to operate electromechanical system
  • motor_protocols: Motor state interfacing
  • serial_protocols: Serial-UI interfacing
  • finger : Finger kinematics
  • controller: Torque controller used

Installation

General

Clone repository locally and configure all paths included within vscode.

Download and install PlatformIO to operete Teensy (https://platformio.org/)

ODrive Firmware

Download odrivetool and set up can using following commands or other OS equivalent:

sudo ip link set can0 up type can bitrate 250000

Configure following parameters for each odrive in odrivetool:

odrv0.config.dc_max_negative_current = -0.1
odrv0.config.max_regen_current = 0.1
odrv0.save_configuration()

Set appropriate Can_ID through odrive GUI online

User Interface

For user interface, only python is required. Navigate into UI sub-directory and run the following command:

python finger_GUI.py

Connect serially through the user interface

Operation

Build and upload src/main.cpp onto Teensy for full operation