For all CAD and code related to Project: DeepBlue Juggling
I'll try to release an updated folder here for every episode in which major changes happen.
For further information about the project as a whole, as well as more detail on specific elements of the project, please head to: pdj.zulipchat.com
A single-ODrive bench rig is set up for isolated single-leg characterisation (brake resistor, separate PSU, isolated CAN bus). The bench scripts and analysers are documented in tools/README.md:
- Friction characterisation — Stribeck four-parameter fit pipeline
(
cogging_bench_test.py→friction_study_analyse.py) - Stiction breakaway — torque-ramp test with position-only escape detector
(
breakaway_ramp_test.py→breakaway_analyse.py) - Friction feedforward demo — bench-validation of the FF stack
(
friction_ff_demo.py)
Canonical reference: logbook/2026-04-27-friction-feedforward-bench-validation.md.