mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-08-20 22:14:34 +08:00
Samuel Sadok
0fd3b43a39
exmplore_odrive.py no longer needs to be executed with "ipython -i explore_odrive.py" but can launch an embedded IPython command prompt by itself. If IPython is not available, the script falls back to checking for normal python interactive mode.
115 lines
4.0 KiB
Python
Executable File
115 lines
4.0 KiB
Python
Executable File
#!/usr/bin/env python3
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"""
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Load an odrive object to play with in the IPython interactive shell.
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"""
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import odrive.core
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import argparse
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import sys
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import platform
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# Check if IPython is installed
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try:
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import IPython
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embed_ipython = True
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except:
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embed_ipython = False
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print("Warning: you don't have IPython installed.")
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print("If you want to have an improved interactive console with pretty colors,")
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print("you should install IPython\n")
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# Ensure interactive mode
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if not bool(getattr(sys, 'ps1', sys.flags.interactive)):
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print("You're not running in interactive mode. Run python -i explore_odrive.py")
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print('')
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sys.exit(1)
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# Enable tab complete if possible
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try:
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import readline
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readline.parse_and_bind("tab: complete")
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except:
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sudo_prefix = "" if platform.system() == "Windows" else "sudo "
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print("Warning: could not enable tab-complete. User experience will suffer.\n"
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"Run `{}pip install readline` and then restart this script to fix this."
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.format(sudo_prefix))
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# some enums described in the README
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# TODO: transmit as part of the JSON
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MOTOR_TYPE_HIGH_CURRENT = 0
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#MOTOR_TYPE_LOW_CURRENT = 1
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MOTOR_TYPE_GIMBAL = 2
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CTRL_MODE_VOLTAGE_CONTROL = 0,
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CTRL_MODE_CURRENT_CONTROL = 1,
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CTRL_MODE_VELOCITY_CONTROL = 2,
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CTRL_MODE_POSITION_CONTROL = 3
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# Parse arguments
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parser = argparse.ArgumentParser(description='Load an odrive object to play with in the IPython interactive shell.')
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parser.add_argument("-v", "--verbose", action="store_true",
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help="print debug information")
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group = parser.add_mutually_exclusive_group()
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group.add_argument("-d", "--discover", metavar="CHANNELS", action="store",
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help="Automatically discover ODrives. Takes a comma-separated list (without spaces) "
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"to indicate which connection types should be considered. Possible values are "
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"usb and serial. For example \"--discover usb,serial\" indicates "
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"that USB and serial ports should be scanned for ODrives. "
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"If none of the below options are specified, --discover usb is assumed.")
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group.add_argument("-u", "--usb", metavar="BUS:DEVICE", action="store",
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help="Specifies the USB port on which the device is connected. "
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"For example \"001:014\" means bus 001, device 014. The numbers can be obtained "
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"using `lsusb`.")
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group.add_argument("-s", "--serial", metavar="PORT", action="store",
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help="Specifies the serial port on which the device is connected. "
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"For example \"/dev/ttyUSB0\". Use `ls /dev/tty*` to find your port name.")
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parser.set_defaults(discover="usb")
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args = parser.parse_args()
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if (args.verbose):
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printer = print
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else:
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printer = lambda x: None
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# Connect to device
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if not args.usb is None:
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try:
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bus = int(args.usb.split(":")[0])
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address = int(args.usb.split(":")[1])
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except (ValueError, IndexError):
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print("the --usb argument must look something like this: \"001:014\"")
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sys.exit(1)
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try:
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my_odrive = odrive.core.open_usb(bus, address, printer=printer)
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except odrive.protocol.DeviceInitException as ex:
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print(str(ex))
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sys.exit(1)
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elif not args.serial is None:
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my_odrive = odrive.core.open_serial(args.serial, printer=printer)
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else:
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print("Waiting for device...")
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consider_usb = 'usb' in args.discover.split(',')
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consider_serial = 'serial' in args.discover.split(',')
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my_odrive = odrive.core.find_any(consider_usb, consider_serial, printer=printer)
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print("Connected!")
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print('')
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print('ODRIVE EXPLORER')
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print('')
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print('You can now type "my_odrive." and press <tab>')
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print('This will present you with all the properties that you can reference')
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print('')
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print('For example: "my_odrive.motor0.encoder.pll_pos"')
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print('will print the current encoder position on motor 0')
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print('and "my_odrive.motor0.pos_setpoint = 10000"')
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print('will send motor0 to 10000')
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print('')
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# If IPython is installed, embed shell, otherwise drop into interactive stock python shell
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if embed_ipython:
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IPython.embed()
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