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51 lines
1.5 KiB
Python
Executable File
51 lines
1.5 KiB
Python
Executable File
#!/usr/bin/env python3
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"""
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Example usage of the ODrive python library to monitor and control ODrive devices
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"""
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from __future__ import print_function
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import odrive
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from odrive.enums import *
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import time
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import math
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# Find a connected ODrive (this will block until you connect one)
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print("finding an odrive...")
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my_drive = odrive.find_any()
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# Calibrate motor and wait for it to finish
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print("starting calibration...")
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my_drive.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE
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while my_drive.axis0.current_state != AXIS_STATE_IDLE:
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time.sleep(0.1)
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my_drive.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
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# To read a value, simply read the property
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print("Bus voltage is " + str(my_drive.vbus_voltage) + "V")
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# Or to change a value, just assign to the property
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my_drive.axis0.controller.input_pos = 3.14
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print("Position setpoint is " + str(my_drive.axis0.controller.pos_setpoint))
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# And this is how function calls are done:
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for i in [1,2,3,4]:
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print('voltage on GPIO{} is {} Volt'.format(i, my_drive.get_adc_voltage(i)))
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# A sine wave to test
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t0 = time.monotonic()
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while True:
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setpoint = 4.0 * math.sin((time.monotonic() - t0)*2)
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print("goto " + str(int(setpoint)))
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my_drive.axis0.controller.input_pos = setpoint
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time.sleep(0.01)
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# Some more things you can try:
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# Write to a read-only property:
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my_drive.vbus_voltage = 11.0 # fails with `AttributeError: can't set attribute`
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# Assign an incompatible value:
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my_drive.motor0.pos_setpoint = "I like trains" # fails with `ValueError: could not convert string to float`
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