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Setup

ODrive and NEOs​

  • Whether through user error or not, we have found the odrives to be very unreliable
  • Although unconfirmed, we think only some motors work paired with others
  • One combination we have found
┌──────────────────┐  ┌──────────────────┐  ┌──────────────────┐
│     ODRIVE 5     │  │     ODRIVE 1     │  │     ODRIVE 2     │
│   M1        M0   │  │   M1        M0   │  │   M1        M0   │
└──────────────────┘  └──────────────────┘  └──────────────────┘
  ║ ║ ║      ║ ║ ║      ║ ║ ║      ║ ║ ║      ║ ║ ║      ║ ║ ║
  ║ ║ ║      ║ ║ ║      ║ ║ ║      ║ ║ ║      ║ ║ ║      ║ ║ ║
  ║ ║ ║      ║ ║ ║      ║ ║ ║      ║ ║ ║      ║ ║ ║      ║ ║ ║
  ║ ║ ║      ║ ║ ║      ║ ║ ║      ║ ║ ║      ║ ║ ║      ║ ║ ║
 .-----.    .-----.    .-----.    .-----.    .-----.    .-----.
(  NEO  )  (  NEO  )  (  NEO  )  (  NEO  )  (  NEO  )  (  NEO  )
|~-----~|  |~-----~|  |~-----~|  |~-----~|  |~-----~|  |~-----~|
| LEFT  |  | RIGHT |  | LEFT  |  | LEFT  |  | RIGHT |  | RIGHT |
| BACK  |  | MIDDLE|  | FRONT |  | MIDDLE|  | FRONT |  | BACK  |
└───────┘  └───────┘  └───────┘  └───────┘  └───────┘  └───────┘

Neo Encoders​

  • Hall Encoders have 6 Wires
  • We only use 5
  • Here are how they plug into an odrive
    3.3V ▣
    5V   ▣ 🟥🟥🟥🟥🟥
    A    ▣ 🟦🟦🟦🟦🟦  
    B    ▣ 🟨🟨🟨🟨🟨
    Z    ▣ 🟩🟩🟩🟩🟩
    GND  ▣ ⬛⬛⬛⬛⬛
    3.3V ▣
    5V   ▣ 🟥🟥🟥🟥🟥
    A    ▣ 🟦🟦🟦🟦🟦  
    B    ▣ 🟨🟨🟨🟨🟨
    Z    ▣ 🟩🟩🟩🟩🟩
    GND  ▣ ⬛⬛⬛⬛⬛