test-rig-parallel.yaml

type: parallel

# ODrives
odrives:
  - name: top-odrive
    board-version: v3.5-48V
    serial-number: "3660335E3037"
    brake-resistance: 0.47
    uart: /dev/serial/by-id/[not-yet-used]
    usb: auto
    programmer: '\x53\x3f\x75\x06\x49\x3f\x49\x51\x44\x54\x19\x3f'
    vbus-voltage: 24 # [V]
    max-brake-power: 150 # [W]
    axes:
      - name: 'yellow'
        motor-phase-resistance: 0.0245
        motor-phase-inductance: 2.03e-05
        motor-pole-pairs: 7
        motor-direction: 1
        motor-kv: 190
        motor-max-current: 70
        motor-max-voltage: 40
        encoder-cpr: 8192
        encoder-max-rpm: 7000
      - name: 'black'
        motor-phase-resistance: 0.028
        motor-phase-inductance: 1.6e-05
        motor-pole-pairs: 7
        motor-direction: -1
        motor-kv: 270
        motor-max-current: 70
        motor-max-voltage: 32
        encoder-cpr: 8192
        encoder-max-rpm: 7000
  - name: bottom-odrive
    board-version: v3.5-24V
    serial-number: "3661335E3037"
    brake-resistance: 0.47
    uart: /dev/serial/by-id/[not-yet-used]
    usb: auto
    programmer: '\x49\x3f\x6f\x06\x49\x3f\x56\x54\x09\x29\x11\x3f'
    vbus-voltage: 24 # [V]
    max-brake-power: 150 # [W]
    axes:
      - name: 'black'
        motor-phase-resistance: 0.028
        motor-phase-inductance: 1.6e-05
        motor-pole-pairs: 7
        motor-direction: 1
        motor-kv: 270
        motor-max-current: 70
        motor-max-voltage: 32
        encoder-cpr: 8192
        encoder-max-rpm: 7000
      - name: 'yellow'
        motor-phase-resistance: 0.0245
        motor-phase-inductance: 2.03e-05
        motor-pole-pairs: 7
        motor-direction: -1
        motor-kv: 190
        motor-max-current: 70
        motor-max-voltage: 40
        encoder-cpr: 8192
        encoder-max-rpm: 7000

# Mechanical couplings
couplings:
  - [ top-odrive.yellow, bottom-odrive.yellow ]
  - [ top-odrive.black, bottom-odrive.black ]