fix odrive_demo.py

Firmware/fibre/python/fibre/discovery.py

@@ -103,7 +103,8 @@ def find_all(path, serial_number,
         the_rest = ':'.join(search_spec.split(':')[1:])
         if prefix in channel_types:
             threading.Thread(target=channel_types[prefix],
-                             args=(the_rest, serial_number, did_discover_channel, search_cancellation_token, channel_termination_token, logger)).start()
+                             args=(the_rest, serial_number, did_discover_channel, search_cancellation_token, channel_termination_token, logger),
+                             daemon=True).start()
         else:
             raise Exception("Invalid path spec \"{}\"".format(search_spec))
 

Firmware/fibre/python/fibre/protocol.py

@@ -256,7 +256,7 @@ class Channel(PacketSink):
                 self._logger.debug("receiver thread is exiting: " + traceback.format_exc())
             finally:
                 self._channel_broken.set()
-        threading.Thread(target=receiver_thread).start()
+        threading.Thread(target=receiver_thread, daemon=True).start()
 
     def remote_endpoint_operation(self, endpoint_id, input, expect_ack, output_length):
         if input is None:

tools/odrive/dfu.py

@@ -206,7 +206,7 @@ def show_deferred_message(message, cancellation_token):
             time.sleep(1)
         if not cancellation_token.is_set():
             print(message)
-    t = threading.Thread(target=show_message_thread, args=(message, cancellation_token))
+    t = threading.Thread(target=show_message_thread, args=(message, cancellation_token), daemon=True)
     t.daemon = True
     t.start()
 
@@ -436,7 +436,7 @@ def launch_dfu(args, logger, cancellation_token):
     def find_device_in_dfu_mode_thread():
         devices[0] = find_device_in_dfu_mode(serial_number, find_odrive_cancellation_token)
         find_odrive_cancellation_token.set()
-    threading.Thread(target=find_device_in_dfu_mode_thread).start()
+    threading.Thread(target=find_device_in_dfu_mode_thread, daemon=True).start()
 
     # Scan for ODrives not in DFU mode
     # We only scan on USB because DFU is only implemented over USB

tools/odrive/utils.py

@@ -72,8 +72,10 @@ def start_liveplotter(get_var_callback):
             fig.canvas.draw()
             fig.canvas.start_event_loop(1/plot_rate)
 
-    threading.Thread(target=fetch_data).start()
-    threading.Thread(target=plot_data).start()
+    threading.Thread(target=fetch_data, daemon=True).start()
+    threading.Thread(target=plot_data, daemon=True).start()
+
+    return cancellation_token;
     #plot_data()
 
 def print_drv_regs(name, motor):
@@ -142,7 +144,7 @@ def usb_burn_in_test(get_var_callback, cancellation_token):
                 continue
             if i % 1000 == 0:
                 print("read {} values".format(i))
-    threading.Thread(target=fetch_data).start()
+    threading.Thread(target=fetch_data, daemon=True).start()
 
 def setup_udev_rules(logger):
     if platform.system() != 'Linux':

tools/odrive_demo.py

@@ -6,15 +6,25 @@ Example usage of the ODrive python library to monitor and control ODrive devices
 from __future__ import print_function
 
 import odrive
+from odrive.enums import *
 import time
 import math
 
 # Find a connected ODrive (this will block until you connect one)
+print("finding an odrive...")
 my_drive = odrive.find_any()
 
 # Find an ODrive that is connected on the serial port /dev/ttyUSB0
 #my_drive = odrive.find_any("serial:/dev/ttyUSB0")
 
+# Calibrate motor and wait for it to finish
+print("starting calibration...")
+my_drive.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE
+while my_drive.axis0.current_state != AXIS_STATE_IDLE:
+    time.sleep(0.1)
+
+my_drive.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
+
 # To read a value, simply read the property
 print("Bus voltage is " + str(my_drive.vbus_voltage) + "V")
 
@@ -23,17 +33,17 @@ my_drive.axis0.controller.pos_setpoint = 3.14
 print("Position setpoint is " + str(my_drive.axis0.controller.pos_setpoint))
 
 # And this is how function calls are done:
-my_drive.axis0.controller.set_pos_setpoint(0.0, 0.0, 0.0)
+for i in [1,2,3,4]:
+    print('voltage on GPIO{} is {} Volt'.format(i, my_drive.get_adc_voltage(i)))
 
 # A sine wave to test
 t0 = time.monotonic()
 while True:
     setpoint = 10000.0 * math.sin((time.monotonic() - t0)*2)
     print("goto " + str(int(setpoint)))
-    my_drive.axis0.controller.set_pos_setpoint(setpoint, 0.0, 0.0)
+    my_drive.axis0.controller.pos_setpoint = setpoint
     time.sleep(0.01)
 
-
 # Some more things you can try:
 
 # Write to a read-only property:

tools/odrivetool

@@ -7,6 +7,7 @@ from __future__ import print_function
 import sys
 import os
 import argparse
+import time
 
 sys.path.insert(0, os.path.join(os.path.dirname(os.path.dirname(
                     os.path.realpath(__file__))),
@@ -14,7 +15,7 @@ sys.path.insert(0, os.path.join(os.path.dirname(os.path.dirname(
 import fibre.discovery
 from fibre import Logger, Event
 import odrive
-from odrive.utils import OperationAbortedException
+from odrive.utils import OperationAbortedException, decode_temp
 from odrive.configuration import *
 
 # Flush stdout by default
@@ -149,8 +150,14 @@ try:
 
         # If you want to plot different values, change them here.
         # You can plot any number of values concurrently.
-        start_liveplotter(lambda: [my_odrive.motor0.encoder.pos_estimate,
-                                my_odrive.motor1.encoder.pos_estimate])
+        cancellation_token = start_liveplotter(lambda: [
+            my_odrive.axis0.encoder.pos_estimate,
+            my_odrive.axis1.encoder.pos_estimate,
+        ])
+
+        print("Showing plot. Press Ctrl+C to exit.")
+        while not cancellation_token.is_set():
+            time.sleep(1)
 
     elif args.command == 'drv-status':
         from odrive.utils import print_drv_regs

tools/run_tests.py

@@ -35,7 +35,7 @@ def for_all_parallel(objects, get_name, callback):
     # Start a thread for each element in the list
     all_threads = []
     for element in objects:
-        thread = threading.Thread(target=run_callback, args=(element,))
+        thread = threading.Thread(target=run_callback, args=(element,), daemon=True)
         thread.start()
         all_threads.append(thread)