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Calibrate and enter closed loop in the example

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This commit is contained in:
Paul Guenette
2021-05-09 20:33:36 -04:00
parent 675e84bfac
commit f339c6c4e5
2 changed files with 48 additions and 5 deletions
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4
docs/can-guide.md
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@@ -101,6 +101,10 @@ $ candump can0 -xct z -n 10
(000.401972) can0 RX - - 021 [8] 00 00 00 00 08 00 00 00
```
Alternatively, if you have python can installed (`pip3 install python-can`), you can use the can.viewer script:
`python3 -m can.viewer -c "can0" -i "socketcan"` which will give you a nice readout. See [the python-can docs](https://python-can.readthedocs.io/en/master/scripts.html#can-viewer) for an example.
## Commanding the ODrive
Now that we've verified the communication is working, we can try commanding the ODrive. Make sure your ODrive is configured and working properly over USB with `odrivetool` before continuing. See the [Getting Started Guide](getting-started.md) for help with first-time configuration.

49
tools/can_example.py
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@@ -1,14 +1,53 @@
import can
bus = can.interface.Bus('can0', bustype='socketcan')
axisID = 0x1 << 5
msgID = axisID | 0x7
bus = can.interface.Bus("can0", bustype="socketcan")
axisID = 0x1
msgID = axisID << 5 | 0x7
msg = can.Message(arbitration_id=msgID, data=[0, 0, 0, 0, 3, 0, 0, 0], dlc=8)
print("Requesting AXIS_STATE_FULL_CALIBRATION_SEQUENCE (0x03) on axisID: " + str(axisID))
msg = can.Message(arbitration_id=msgID, data=[3, 0, 0, 0, 0, 0, 0, 0], dlc=8, is_extended_id=False)
print(msg)
try:
bus.send(msg)
print("Message sent on {}".format(bus.channel_info))
except can.CanError:
print("Message NOT sent! Please verify can0 is working first")
print("Waiting for calibration to finish...")
while True:
msg = bus.recv()
if msg.arbitration_id == (axisID << 5 | 0x01):
if msg.data[4] == 0x1:
break
print("\nAxis has returned to Idle state.")
while True:
msg = bus.recv()
if(msg.arbitration_id == (axisID << 5 | 0x01)):
errorCode = msg.data[0] | msg.data[1] << 8 | msg.data[2] << 16 | msg.data[3] << 24
print("\nReceived Axis heartbeat message:")
if errorCode == 0x0:
print("No errors")
else:
print("Axis error! Error code: "+str(hex(errorCode)))
break
print("\nPutting axis",axisID,"into AXIS_STATE_CLOSED_LOOP_CONTROL...")
msg = can.Message(arbitration_id=msgID, data=[8, 0, 0, 0, 0, 0, 0, 0], dlc=8, is_extended_id=False)
print(msg)
try:
bus.send(msg)
print("Message sent on {}".format(bus.channel_info))
except can.CanError:
print("Message NOT sent!")
print("Message NOT sent!")
while True:
msg = bus.recv()
if msg.arbitration_id == (axisID << 5 | 0x01):
print("\nReceived Axis heartbeat message:")
if msg.data[4] == 0x8:
print("Axis has entered closed loop")
else:
print("Axis failed to enter closed loop")
break