config1.json

{"axis0": {"config": {"can_heartbeat_rate_ms": 100, "can_node_id_extended": false, "can_node_id": 0, "dir_gpio_pin": 2, "enable_step_dir": false, "enable_watchdog": false, "startup_closed_loop_control": false, "startup_encoder_index_search": false, "startup_encoder_offset_calibration": false, "startup_homing": false, "startup_motor_calibration": true, "startup_sensorless_control": true, "step_dir_always_on": false, "step_gpio_pin": 1, "turns_per_step": 0.0009765625, "watchdog_timeout": 0.0, "calibration_lockin": {"accel": 20.0, "current": 10.0, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 40.0}, "general_lockin": {"accel": 20.0, "current": 10.0, "finish_distance": 100.0, "finish_on_distance": false, "finish_on_enc_idx": false, "finish_on_vel": false, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 40.0}, "sensorless_ramp": {"accel": 100.0, "current": 5.0, "finish_distance": 100.0, "finish_on_distance": false, "finish_on_enc_idx": false, "finish_on_vel": true, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 100.0}}, "controller": {"config": {"axis_to_mirror": 255, "circular_setpoint_range": 1.0, "circular_setpoints": false, "control_mode": 2, "enable_current_mode_vel_limit": true, "enable_gain_scheduling": false, "enable_overspeed_error": true, "enable_vel_limit": true, "gain_scheduling_width": 10.0, "homing_speed": 0.25, "inertia": 0.0, "input_filter_bandwidth": 2.0, "input_mode": 1, "load_encoder_axis": 0, "mirror_ratio": 1.0, "pos_gain": 20.0, "torque_ramp_rate": 0.009999999776482582, "vel_gain": 0.009999999776482582, "vel_integrator_gain": 0.05000000074505806, "vel_limit": 10.0, "vel_limit_tolerance": 1.2000000476837158, "vel_ramp_rate": 1.0, "anticogging": {"anticogging_enabled": true, "calib_anticogging": false, "calib_pos_threshold": 1.0, "calib_vel_threshold": 1.0, "cogging_ratio": 1.0, "index": 0, "pre_calibrated": false}}}, "encoder": {"config": {"abs_spi_cs_gpio_pin": 1, "bandwidth": 1000.0, "calib_range": 0.019999999552965164, "calib_scan_distance": 50.26548385620117, "calib_scan_omega": 12.566370964050293, "cpr": 8192, "enable_phase_interpolation": true, "find_idx_on_lockin_only": false, "idx_search_unidirectional": false, "ignore_illegal_hall_state": false, "mode": 0, "offset_float": 0.0, "offset": 0, "pre_calibrated": false, "sincos_gpio_pin_cos": 4, "sincos_gpio_pin_sin": 3, "use_index": false, "zero_count_on_find_idx": true}}, "fet_thermistor": {"config": {"enabled": true, "temp_limit_lower": 100.0, "temp_limit_upper": 120.0}}, "max_endstop": {"config": {"debounce_ms": 50, "enabled": false, "gpio_num": 0, "is_active_high": false, "offset": 0.0, "pullup": true}}, "min_endstop": {"config": {"debounce_ms": 50, "enabled": false, "gpio_num": 0, "is_active_high": false, "offset": 0.0, "pullup": true}}, "motor": {"config": {"acim_autoflux_attack_gain": 10.0, "acim_autoflux_decay_gain": 1.0, "acim_autoflux_enable": false, "acim_autoflux_min_Id": 10.0, "acim_gain_min_flux": 10.0, "acim_slip_velocity": 14.706000328063965, "calibration_current": 20.0, "current_control_bandwidth": 1000.0, "current_lim_margin": 8.0, "current_lim": 10.0, "direction": 1, "inverter_temp_limit_lower": 100.0, "inverter_temp_limit_upper": 120.0, "motor_type": 0, "phase_inductance": 3.4863041946664453e-06, "phase_resistance": 0.026235997676849365, "pole_pairs": 7, "pre_calibrated": false, "requested_current_range": 60.0, "resistance_calib_max_voltage": 2.0, "torque_constant": 0.009188888594508171, "torque_lim": Infinity}}, "motor_thermistor": {"config": {"enabled": false, "gpio_pin": 4, "poly_coefficient_0": 0.0, "poly_coefficient_1": 0.0, "poly_coefficient_2": 0.0, "poly_coefficient_3": 0.0, "temp_limit_lower": 100.0, "temp_limit_upper": 120.0}}, "sensorless_estimator": {"config": {"observer_gain": 1000.0, "pll_bandwidth": 1000.0, "pm_flux_linkage": 0.0008751252316869795}}, "trap_traj": {"config": {"accel_limit": 0.5, "decel_limit": 0.5, "vel_limit": 2.0}}}, "axis1": {"config": {"can_heartbeat_rate_ms": 100, "can_node_id_extended": false, "can_node_id": 1, "dir_gpio_pin": 8, "enable_step_dir": false, "enable_watchdog": false, "startup_closed_loop_control": false, "startup_encoder_index_search": false, "startup_encoder_offset_calibration": false, "startup_homing": false, "startup_motor_calibration": false, "startup_sensorless_control": false, "step_dir_always_on": false, "step_gpio_pin": 7, "turns_per_step": 0.0009765625, "watchdog_timeout": 0.0, "calibration_lockin": {"accel": 20.0, "current": 10.0, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 40.0}, "general_lockin": {"accel": 20.0, "current": 10.0, "finish_distance": 100.0, "finish_on_distance": false, "finish_on_enc_idx": false, "finish_on_vel": false, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 40.0}, "sensorless_ramp": {"accel": 200.0, "current": 10.0, "finish_distance": 100.0, "finish_on_distance": false, "finish_on_enc_idx": false, "finish_on_vel": true, "ramp_distance": 3.1415927410125732, "ramp_time": 0.4000000059604645, "vel": 400.0}}, "controller": {"config": {"axis_to_mirror": 255, "circular_setpoint_range": 1.0, "circular_setpoints": false, "control_mode": 3, "enable_current_mode_vel_limit": true, "enable_gain_scheduling": false, "enable_overspeed_error": true, "enable_vel_limit": true, "gain_scheduling_width": 10.0, "homing_speed": 0.25, "inertia": 0.0, "input_filter_bandwidth": 2.0, "input_mode": 1, "load_encoder_axis": 1, "mirror_ratio": 1.0, "pos_gain": 20.0, "torque_ramp_rate": 0.009999999776482582, "vel_gain": 0.1666666716337204, "vel_integrator_gain": 0.3333333432674408, "vel_limit": 2.0, "vel_limit_tolerance": 1.2000000476837158, "vel_ramp_rate": 1.0, "anticogging": {"anticogging_enabled": true, "calib_anticogging": false, "calib_pos_threshold": 1.0, "calib_vel_threshold": 1.0, "cogging_ratio": 1.0, "index": 0, "pre_calibrated": false}}}, "encoder": {"config": {"abs_spi_cs_gpio_pin": 1, "bandwidth": 1000.0, "calib_range": 0.019999999552965164, "calib_scan_distance": 50.26548385620117, "calib_scan_omega": 12.566370964050293, "cpr": 8192, "enable_phase_interpolation": true, "find_idx_on_lockin_only": false, "idx_search_unidirectional": false, "ignore_illegal_hall_state": false, "mode": 0, "offset_float": 0.0, "offset": 0, "pre_calibrated": false, "sincos_gpio_pin_cos": 4, "sincos_gpio_pin_sin": 3, "use_index": false, "zero_count_on_find_idx": true}}, "fet_thermistor": {"config": {"enabled": true, "temp_limit_lower": 100.0, "temp_limit_upper": 120.0}}, "max_endstop": {"config": {"debounce_ms": 50, "enabled": false, "gpio_num": 0, "is_active_high": false, "offset": 0.0, "pullup": true}}, "min_endstop": {"config": {"debounce_ms": 50, "enabled": false, "gpio_num": 0, "is_active_high": false, "offset": 0.0, "pullup": true}}, "motor": {"config": {"acim_autoflux_attack_gain": 10.0, "acim_autoflux_decay_gain": 1.0, "acim_autoflux_enable": false, "acim_autoflux_min_Id": 10.0, "acim_gain_min_flux": 10.0, "acim_slip_velocity": 14.706000328063965, "calibration_current": 10.0, "current_control_bandwidth": 1000.0, "current_lim_margin": 8.0, "current_lim": 10.0, "direction": 0, "inverter_temp_limit_lower": 100.0, "inverter_temp_limit_upper": 120.0, "motor_type": 0, "phase_inductance": 0.0, "phase_resistance": 0.0, "pole_pairs": 7, "pre_calibrated": false, "requested_current_range": 60.0, "resistance_calib_max_voltage": 2.0, "torque_constant": 0.03999999910593033, "torque_lim": Infinity}}, "motor_thermistor": {"config": {"enabled": false, "gpio_pin": 4, "poly_coefficient_0": 0.0, "poly_coefficient_1": 0.0, "poly_coefficient_2": 0.0, "poly_coefficient_3": 0.0, "temp_limit_lower": 100.0, "temp_limit_upper": 120.0}}, "sensorless_estimator": {"config": {"observer_gain": 1000.0, "pll_bandwidth": 1000.0, "pm_flux_linkage": 0.0015800000401213765}}, "trap_traj": {"config": {"accel_limit": 0.5, "decel_limit": 0.5, "vel_limit": 2.0}}}, "can": {"config": {"baud_rate": 250000, "protocol": 0}}, "config": {"brake_resistance": 1.0, "dc_bus_overvoltage_ramp_end": 59.92000198364258, "dc_bus_overvoltage_ramp_start": 59.92000198364258, "dc_bus_overvoltage_trip_level": 59.92000198364258, "dc_bus_undervoltage_trip_level": 8.0, "dc_max_negative_current": -3.0, "dc_max_positive_current": Infinity, "enable_ascii_protocol_on_usb": true, "enable_dc_bus_overvoltage_ramp": false, "enable_i2c_instead_of_can": false, "enable_uart": true, "max_regen_current": 0.0, "uart_baudrate": 115200, "gpio1_pwm_mapping": {"endpoint": null, "max": 0.0, "min": 0.0}, "gpio2_pwm_mapping": {"endpoint": null, "max": 0.0, "min": 0.0}, "gpio3_analog_mapping": {"endpoint": null, "max": 0.0, "min": 0.0}, "gpio3_pwm_mapping": {"endpoint": null, "max": 0.0, "min": 0.0}, "gpio4_analog_mapping": {"endpoint": null, "max": 0.0, "min": 0.0}, "gpio4_pwm_mapping": {"endpoint": null, "max": 0.0, "min": 0.0}}}