Changed from counts->radians internally. By default, input positions and velocities are also in radians.

Added multipliers for input pos/vel to allow users to define their own units for those inputs.

tools/odrive/shell.py

@@ -33,7 +33,7 @@ def print_help(args, have_devices):
     print('')
     print('For example: "odrv0.motor0.encoder.pos_estimate"')
     print('will print the current encoder position on motor 0')
-    print('and "odrv0.motor0.pos_setpoint = 10000"')
+    print('and "odrv0.motor0.input_pos = 10000"')
     print('will send motor0 to 10000')
     print('')
 

tools/odrivetool

@@ -8,6 +8,7 @@ import sys
 import os
 import argparse
 import time
+import math
 
 sys.path.insert(0, os.path.join(os.path.dirname(os.path.dirname(
                     os.path.realpath(__file__))),
@@ -151,8 +152,8 @@ try:
         # If you want to plot different values, change them here.
         # You can plot any number of values concurrently.
         cancellation_token = start_liveplotter(lambda: [
-            my_odrive.axis0.encoder.pos_estimate,
-            my_odrive.axis1.encoder.pos_estimate,
+            my_odrive.axis0.encoder.pos_est_rad,
+            my_odrive.axis1.encoder.pos_est_rad,
         ])
 
         print("Showing plot. Press Ctrl+C to exit.")