1 DOF Gravity Compensation Pendulum Arm using O-Drive S1 and a Raspberry Pi w/ CAN Hat

1 Degree of freedom testing gravity compensation using an O-Drive S1 through a Raspberry Pi 2W Zero and a CAN Hat. I am currently testing the different features of my self-developed Python CAN package for the O-Drive S1/Pro. This is a 100mm arm mounted with a 90g mass at the end of it, I wrote a simple script to calculate the required torque to counter gravity based on the current encoder position from the O-Drive.

You can learn more about my package on my GitHub: https://github.com/dylanballback/ODriveCan

The package is currently still in development, I am planning on finishing up the documentation and creating a few example videos on how to use the package on your own project in the next few weeks!

I would also like to give a shout-out to Josh Piper's video because this is where I got the idea from, I am just instead using my own Python CAN package to control an O-Drive.
Here is a link to his video, check it out: https://www.youtube.com/watch?v=VTyuRj0TDcM

Music by Sergii Pavkin from Pixabay

Stay tuned for more! Thank you!

Видео 1 DOF Gravity Compensation Pendulum Arm using O-Drive S1 and a Raspberry Pi w/ CAN Hat канала Dylan Ballback