mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-08-18 18:20:15 +08:00
Paul Guenette
e85b29a15e
Generate messages for 8 axes Prepend AxisID to message names Add nodes to bus Add senders and receivers
231 lines
9.1 KiB
Python
231 lines
9.1 KiB
Python
from cantools.database import *
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msgList = []
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nodes = [can.Node('Master')]
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buses = [can.Bus('ODrive', None, 100000)]
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for axisID in range(0, 8):
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newNode = can.Node(f"ODrive_Axis{axisID}")
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nodes.append(newNode)
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# 0x00 - NMT Message (Reserved)
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# 0x001 - Heartbeat
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axisError = can.Signal("Axis_Error", 0, 32, receivers=['Master'])
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axisState = can.Signal("Axis_State", 32, 8, receivers=['Master'])
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motorFlags = can.Signal("Motor_Flags", 40, 8, receivers=['Master'])
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encoderFlags = can.Signal("Encoder_Flags", 48, 8, receivers=['Master'])
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controllerFlags = can.Signal("Controller_Flags", 56, 8, receivers=['Master'])
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heartbeatMsg = can.Message(
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0x001, "Heartbeat", 8, [axisError, axisState, motorFlags, encoderFlags, controllerFlags], send_type='cyclic', cycle_time=100, senders=[newNode.name]
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)
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# 0x002 - E-Stop Message
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estopMsg = can.Message(0x002, "Estop", 0, [], senders=['Master'])
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# 0x003 - Motor Error
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motorError = can.Signal("Motor_Error", 0, 32, receivers=['Master'])
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motorErrorMsg = can.Message(0x003, "Get_Motor_Error", 8, [motorError], senders=[newNode.name])
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# 0x004 - Encoder Error
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encoderError = can.Signal("Encoder_Error", 0, 32, receivers=['Master'])
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encoderErrorMsg = can.Message(
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0x004, "Get_Encoder_Error", 8, [encoderError], senders=[newNode.name]
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)
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# 0x005 - Sensorless Error
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sensorlessError = can.Signal("Sensorless_Error", 0, 32, receivers=['Master'])
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sensorlessErrorMsg = can.Message(
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0x005, "Get_Sensorless_Error", 8, [sensorlessError], senders=[newNode.name]
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)
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# 0x006 - Axis Node ID
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axisNodeID = can.Signal("Axis_Node_ID", 0, 32, receivers=[newNode.name])
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axisNodeMsg = can.Message(0x006, "Set_Axis_Node_ID", 8, [axisNodeID], senders=['Master'])
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# 0x007 - Requested State
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axisRequestedState = can.Signal("Axis_Requested_State", 0, 32, receivers=[newNode.name])
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setAxisState = can.Message(
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0x007, "Set_Axis_State", 8, [axisRequestedState], senders=['Master']
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)
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# 0x008 - Startup Config (Reserved)
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# 0x009 - Encoder Estimates
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encoderPosEstimate = can.Signal("Pos_Estimate", 0, 32, is_float=True, receivers=['Master'])
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encoderVelEstimate = can.Signal("Vel_Estimate", 32, 32, is_float=True, receivers=['Master'])
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encoderEstimates = can.Message(
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0x009, "Get_Encoder_Estimates", 8, [encoderPosEstimate, encoderVelEstimate], senders=[newNode.name], send_type='cyclic', cycle_time=10
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)
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# 0x00A - Get Encoder Count
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encoderShadowCount = can.Signal("Shadow_Count", 0, 32, receivers=['Master'])
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encoderCountInCPR = can.Signal("Count_in_CPR", 32, 32, receivers=['Master'])
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encoderCountMsg = can.Message(
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0x00A, "Get_Encoder_Count", 8, [encoderShadowCount, encoderCountInCPR], senders=[newNode.name]
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)
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# 0x00B - Set Controller Modes
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controlMode = can.Signal("Control_Mode", 0, 32, receivers=[newNode.name])
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inputMode = can.Signal("Input_Mode", 32, 32, receivers=[newNode.name])
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setControllerModeMsg = can.Message(
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0x00B, "Set_Controller_Mode", 8, [controlMode, inputMode], senders=['Master']
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)
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# 0x00C - Set Input Pos
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inputPos = can.Signal("Input_Pos", 0, 32, is_float=True, receivers=[newNode.name])
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velFF = can.Signal("Vel_FF", 32, 16, is_signed=True, scale=0.001, receivers=[newNode.name])
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torqueFF = can.Signal(
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"Torque_FF", 48, 16, is_signed=True, scale=0.001, receivers=[newNode.name]
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)
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setInputPosMsg = can.Message(
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0x00C, "Set_Input_Pos", 8, [inputPos, velFF, torqueFF], senders=['Master']
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)
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# 0x00D - Set Input Vel
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inputVel = can.Signal("Input_Vel", 0, 32, is_float=True, receivers=[newNode.name])
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inputTorqueFF = can.Signal("Input_Torque_FF", 32, 32, is_float=True, receivers=[newNode.name])
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setInputVelMsg = can.Message(
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0x00D, "Set_Input_Vel", 8, [inputVel, inputTorqueFF], senders=['Master']
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)
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# 0x00E - Set Input Torque
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inputTorque = can.Signal("Input_Torque", 0, 32, is_float=True, receivers=[newNode.name])
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setInputTqMsg = can.Message(
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0x00E, "Set_Input_Torque", 8, [inputTorque], senders=['Master']
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)
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# 0x00F - Set Velocity Limit
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velLimit = can.Signal("Velocity_Limit", 0, 32, is_float=True, receivers=[newNode.name])
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currentLimit = can.Signal("Current_Limit", 32, 32, is_float=True, receivers=[newNode.name])
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setVelLimMsg = can.Message(
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0x00F, "Set_Limits", 8, [velLimit, currentLimit], senders=['Master']
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)
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# 0x010 - Start Anticogging
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startAnticoggingMsg = can.Message(0x010, "Start_Anticogging", 0, [], senders=['Master'])
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# 0x011 - Set Traj Vel Limit
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trajVelLim = can.Signal("Traj_Vel_Limit", 0, 32, is_float=True, receivers=[newNode.name])
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setTrajVelMsg = can.Message(
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0x011, "Set_Traj_Vel_Limit", 8, [trajVelLim], senders=['Master']
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)
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# 0x012 - Set Traj Accel Limits
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trajAccelLim = can.Signal("Traj_Accel_Limit", 0, 32, is_float=True, receivers=[newNode.name])
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trajDecelLim = can.Signal("Traj_Decel_Limit", 32, 32, is_float=True, receivers=[newNode.name])
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setTrajAccelMsg = can.Message(
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0x012, "Set_Traj_Accel_Limits", 8, [trajAccelLim, trajDecelLim], senders=['Master']
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)
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# 0x013 - Set Traj Inertia
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trajInertia = can.Signal("Traj_Inertia", 0, 32, is_float=True, receivers=[newNode.name])
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trajInertiaMsg = can.Message(
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0x013, "Set_Traj_Inertia", 8, [trajInertia], senders=['Master']
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)
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# 0x014 - Get Iq
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iqSetpoint = can.Signal("Iq_Setpoint", 0, 32, is_float=True, receivers=['Master'])
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iqMeasured = can.Signal("Iq_Measured", 32, 32, is_float=True, receivers=['Master'])
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getIqMsg = can.Message(0x014, "Get_Iq", 8, [iqSetpoint, iqMeasured], senders=[newNode.name])
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# 0x015 - Get Sensorless Estimates
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sensorlessPosEstimate = can.Signal(
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"Sensorless_Pos_Estimate", 0, 32, is_float=True, receivers=['Master']
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)
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sensorlessVelEstimate = can.Signal(
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"Sensorless_Vel_Estimate", 32, 32, is_float=True, receivers=['Master']
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)
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getSensorlessEstMsg = can.Message(
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0x015, "Get_Sensorless_Estimates", 8, [sensorlessPosEstimate, sensorlessVelEstimate], senders=[newNode.name]
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)
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# 0x016 - Reboot ODrive
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rebootMsg = can.Message(0x016, "Reboot", 0, [], senders=['Master'])
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# 0x017 - Get vbus Voltage and Current
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busVoltage = can.Signal("Bus_Voltage", 0, 32, is_float=True, receivers=['Master'])
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busCurrent = can.Signal("Bus_Current", 32, 32, is_float=True, receivers=['Master'])
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getVbusVCMsg = can.Message(0x017, "Get_Bus_Voltage_Current", 8, [busVoltage, busCurrent], senders=[newNode.name])
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# 0x018 - Clear Errors
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clearErrorsMsg = can.Message(0x018, "Clear_Errors", 0, [], senders=['Master'])
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# 0x019 - Set Linear Count
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position = can.Signal("Position", 0, 32, is_signed=True, receivers=[newNode.name])
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setLinearCountMsg = can.Message(0x019, "Set_Linear_Count", 8, [position], senders=['Master'])
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# 0x01A - Set Pos gain
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posGain = can.Signal("Pos_Gain", 0, 32, is_float=True, receivers=[newNode.name])
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setPosGainMsg = can.Message(0x01A, "Set_Pos_Gain", 8, [posGain], senders=['Master'])
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# 0x01B - Set Vel Gains
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velGain = can.Signal("Vel_Gain", 0, 32, is_float=True, receivers=[newNode.name])
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velIntGain = can.Signal("Vel_Integrator_Gain", 32, 32, is_float=True, receivers=[newNode.name])
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setVelGainsMsg = can.Message(0x01B, "Set_Vel_Gains", 8, [velGain, velIntGain], senders=['Master'])
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# 0x01C - Get ADC Voltage
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adcVoltage = can.Signal("ADC_Voltage", 0, 32, is_float=True, receivers=['Master'])
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getADCVoltageMsg = can.Message(0x01C, "Get_ADC_Voltage", 8, [adcVoltage], senders=[newNode.name])
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# 0x01D - Controller Error
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controllerError = can.Signal("Controller_Error", 0, 32, receivers=['Master'])
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controllerErrorMsg = can.Message(
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0x01D, "Get_Controller_Error", 8, [controllerError], senders=[newNode.name]
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)
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axisMsgs = [
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heartbeatMsg,
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motorErrorMsg,
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encoderErrorMsg,
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sensorlessErrorMsg,
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axisNodeMsg,
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setAxisState,
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encoderEstimates,
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encoderCountMsg,
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setControllerModeMsg,
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setInputPosMsg,
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setInputVelMsg,
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setInputTqMsg,
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setVelLimMsg,
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startAnticoggingMsg,
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setTrajVelMsg,
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setTrajAccelMsg,
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trajInertiaMsg,
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getIqMsg,
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getSensorlessEstMsg,
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rebootMsg,
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getVbusVCMsg,
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clearErrorsMsg,
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setLinearCountMsg,
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setPosGainMsg,
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setVelGainsMsg,
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getADCVoltageMsg,
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controllerErrorMsg,
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]
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masterMsgs = [
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estopMsg,
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]
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# Prepend Axis ID to each message name
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for msg in axisMsgs:
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msg.name = f"Axis{axisID}_{msg.name}"
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msg.frame_id |= (axisID << 5)
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# for signal in msg.signals:
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# signal.name = f"{signal.name}_Axis{axisID}"
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# signal.name = f"Axis{axisID}_{signal.name}"
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msgList.append(axisMsgs)
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from itertools import chain
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msgList = list(chain.from_iterable(msgList))
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db = can.Database(msgList, nodes, buses, version='0.5.5')
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dump_file(db, "odrive-cansimple.dbc")
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db = load_file("odrive-cansimple.dbc")
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# print(db)
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