Add ODrive motor_temperature to TracksHardware
#4
Conversation
| {config.name}.shadow({config.name}_front) | ||
| ''') | ||
| core_message_fields = [f'{config.name}.linear_speed:3', f'{config.name}.angular_speed:3'] | ||
| if config.odrive_version == self.ERROR_FLAG_VERSION: |
There was a problem hiding this comment.
Reading out the temperatures requires a different version than just checking for motor errors. This will lead to errors.
@Johannes-Thiel What do you think about ditching ERROR_FLAG_VERSION and instead add booleans to the configuration that enable the features? Like check_errors and check_temperatures (but we should change the naming 😆)
We could also use better versioning for our ODrive fork to differentiate the versions
There was a problem hiding this comment.
Yes that is a good idea, but we have to keep in mind, that the check_temperatures already implements the check_errors .
I would like to finish the calibration via can firmware. With that change we could increase the minor version of the fork.
There was a problem hiding this comment.
For temperature, we might not need the flag for the ODrive firmware version. We depend on the latest Lizard version. If Lizard doesn’t receive the temperature from the ODrive, it will return 0, and we interpret that as N/A. This won’t break the UI or our code. However, we should include a note with a link to the Lizard documentation.
There was a problem hiding this comment.
Would the simplest way, yes.
However I'm not a fan of values that could be reasonable, but need background knowledge to understand them.
There was a problem hiding this comment.
Yes i get your point but the limiting factors here have so many levels, that ist is almost impossible to get the right flag. For this it is easier and safer to rely on Lizard and the ODrive firmware.
We want to be able to see the ODrive temperature. For this, we use the
motor_temperatureproperty from Lizard. Lizard will return0if there is no measurement. Since the chance that the actualmotor_temperatureis0is very small, we will displayN/Ain this case. This will help the user understand that the temperature sensor is not working for their device.