add option to flip index search direction

tools/setup_hall_as_index.py

@@ -1,13 +1,17 @@
 
 import odrive
+from odrive.utils import dump_errors
 from odrive.enums import *
 import time
 
 print("Finding an odrive...")
 odrv = odrive.find_any()
 
-axes = [odrv.axis0, odrv.axis1];
-# axes = [odrv.axis0];
+# axes = [odrv.axis0, odrv.axis1];
+axes = [odrv.axis0];
+
+flip_index_search_direction = False
+save_and_reboot = False
 
 print("Setting config...")
 # Settings to protect battery
@@ -33,6 +37,7 @@ for ax in axes:
     ax.controller.config.pos_gain = 26
 
     ax.config.lockin.current = 10
+    ax.config.lockin.ramp_distance = 3.14
     ax.config.lockin.vel = 15
     ax.config.lockin.accel = 10
     ax.config.lockin.finish_distance = 30
@@ -41,8 +46,8 @@ def wait_and_exit_on_error(ax):
     while ax.current_state != AXIS_STATE_IDLE:
         time.sleep(0.1)
     if ax.error != errors.axis.ERROR_NONE:
-        odrive.utils.dump_errors(odrv)
-        quit()
+        dump_errors(odrv, True)
+        exit()
 
 for axnum, ax in enumerate(axes):
     print("Calibrating motor {}...".format(axnum))
@@ -54,19 +59,24 @@ for axnum, ax in enumerate(axes):
     wait_and_exit_on_error(ax)
     print("    Direction is {}".format(ax.motor.config.direction))
 
+    if flip_index_search_direction:
+        ax.config.lockin.ramp_distance = -ax.config.lockin.ramp_distance
+        ax.config.lockin.vel = -ax.config.lockin.vel
+        ax.config.lockin.accel = -ax.config.lockin.accel
+
     print("Searching for index on motor {}...".format(axnum))
     ax.requested_state = AXIS_STATE_ENCODER_INDEX_SEARCH
     wait_and_exit_on_error(ax)
     if (not ax.encoder.index_found):
         print("Failed finding index! Quitting.")
-        quit()
+        exit()
 
     print("Calibrating encoder offset on motor {}...".format(axnum))
     ax.requested_state = AXIS_STATE_ENCODER_OFFSET_CALIBRATION
     wait_and_exit_on_error(ax)
     if (not ax.encoder.is_ready):
         print("Failed to calibrate encoder! Quitting")
-        quit()
+        exit()
 
     # If we get here there were no errors, so let's commit the values
     ax.motor.config.pre_calibrated = True
@@ -79,8 +89,9 @@ for axnum, ax in enumerate(axes):
 #Everything should be good to go here, so let's save and reboot
 print("")
 print("All operations successful!")
-odrv.save_configuration()
-try:
-    odrv.reboot()
-except odrive.fibre.ChannelBrokenException:
-    pass
+if save_and_reboot:
+    odrv.save_configuration()
+    try:
+        odrv.reboot()
+    except odrive.fibre.ChannelBrokenException:
+        pass