First, if you haven’t already, check out these introductory posts:
Second, this article is available in video form:
Third, the official reference documentation can be read here. This describes in detail all of the possible configuration values.
This will be the final post describing the fundamentals of configuring the new flexible I/O system. There have been a number of previous posts (part 1, part 2, part 3). In this iteration, we’ll cover how to configure the sinks that consume the “source” encoder data. As a reminder, the block diagram of the I/O system looks like:
To perform commutation with field oriented control, moteus needs to know the relationship between the rotor and stator in the magnetic domain. With the addition of the new flexible I/O system, some of the configurable values associated with this remain as they were, where there are some new ones.
In the last two posts (part 1, part 2), I started talking about the new, more flexible I/O subsystem for the open source moteus brushless motor controller. In this post, I’ll continue by describing what a “source” is, and how it is configured.
For reference, the block diagram showing how auxiliary ports, sources, and sinks are related is below:
Each “source” in the above diagram represents a single encoder. To the sinks it provides a position and velocity, along with various validity indications for that data. Each has three basic configuration components: where to get the raw data, how to transform that raw data, and the low-pass filter configuration. We’ll cover each in turn.
In the last post, I covered the goals behind more flexible I/O support in the moteus brushless controller. This time, I’ll start to cover the configuration model that I implemented to make that support work. It is broken up into 3 distinct phases, auxiliary ports, sources, and sinks.
Slightly simplified I/O structure flow diagram
To begin with, the available connectors and external pins on moteus are organized into “auxiliary ports”. For the moteus r4.3/4.5/4.8/4.11, the correspondence is that the external primary encoder connector, if present (r4.8 and newer), is “auxiliary port 1”. The ABS port and some on-board debug pads are “auxiliary port 2”. For each port, there are two levels of configuration, at the pin level and the function level.
The moteus controller, being a brushless servo drive, needs to use encoders to measure things like how the rotor is positioned relative the stator, and possibly output shafts that have passed through a reducing stage. The support for this has gradually expanded over time, but is still relatively limited as far as those things go. The available options are:
However, the moteus hardware has always been capable of more, both because the processor is a very capable one, and the exposed IO pins are relatively flexible. While looking at some future designs that incorporate even more IO options, I decided it was time to update the firmware to finally start taking advantage of that flexibility.
