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add motor argument to odrive.utils.print_drv_regs

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This commit is contained in:
Samuel Sadok
2018-04-06 12:59:14 -07:00
parent 6719a2dfe0
commit 0b4ecb0581
2 changed files with 12 additions and 11 deletions
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tools/odrive/utils.py
+10 -10
View File
@@ -72,21 +72,21 @@ def start_liveplotter(get_var_callback):
threading.Thread(target=plot_data).start()
#plot_data()
def print_drv_regs(device):
def print_drv_regs(name, motor):
"""
Dumps the current gate driver regisers for Motor 0
Dumps the current gate driver regisers for the specified motor
"""
fault = device.motor0.gate_driver.drv_fault
status_reg_1 = device.motor0.gate_driver.status_reg_1
status_reg_2 = device.motor0.gate_driver.status_reg_2
ctrl_reg_1 = device.motor0.gate_driver.ctrl_reg_1
ctrl_reg_2 = device.motor0.gate_driver.ctrl_reg_2
fault = motor.gate_driver.drv_fault
status_reg_1 = motor.gate_driver.status_reg_1
status_reg_2 = motor.gate_driver.status_reg_2
ctrl_reg_1 = motor.gate_driver.ctrl_reg_1
ctrl_reg_2 = motor.gate_driver.ctrl_reg_2
print(name + ": " + str(fault))
print("DRV Fault Code: " + str(fault))
print("Status Reg 1: " + str(status_reg_1) + " (" + format(status_reg_1, '#010b') + ")")
print("Status Reg 2: " + str(status_reg_2) + " (" + format(status_reg_2, '#010b') + ")")
print("Control Reg 1: " + str(ctrl_reg_1) + " (" + format(ctrl_reg_1, '#010b') + ")")
print("Control Reg 2: " + str(ctrl_reg_2) + " (" + format(ctrl_reg_2, '#010b') + ")")
print("Control Reg 1: " + str(ctrl_reg_1) + " (" + format(ctrl_reg_1, '#013b') + ")")
print("Control Reg 2: " + str(ctrl_reg_2) + " (" + format(ctrl_reg_2, '#09b') + ")")
def rate_test(device):
"""
tools/odrvtool
+2 -1
View File
@@ -111,7 +111,8 @@ try:
from odrive.utils import print_drv_regs
print("Waiting for ODrive...")
my_odrive = odrive.discovery.find_any(path=args.path, serial_number=args.serial_number)
print_drv_regs(my_odrive)
print_drv_regs("Motor 0", my_odrive.axis0.motor)
print_drv_regs("Motor 1", my_odrive.axis1.motor)
elif args.command == 'rate-test':
from odrive.utils import rate_test