Hi!
I am at the moment digging into the firmware and trying to understand it better with the help of the labs from TI (coming with motorware). I guess you guys did some of them to come up with your firmware. Could you tell me which labs you were playing around to come up with the ODRI firmware?
Best
Yannick
Hi Yannick,
I don’t remember exactly but I think I went through most of the labs up to around lab12*, skipping a few that did not seem so relevant to our project. Especially the first labs are good to go through as they explain the basics of MotorWare.
The actual firmware we are using now is based on lab12c but has lots of adjustments (e.g. lab12c is originally velocity control but we are using torque control now). You can take a look at the history here: https://github.com/open-dynamic-robot-initiative/mw_dual_motor_torque_ctrl
For some parts of the software (e.g. CAN communication) there was no ready-to-use lab but TI typically provides quite good documentation for the single modules.
Finally I asked a lot of questions on the TI support forum :). They typically reply fast and give their best to help.
Best,
Felix