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https://github.com/odriverobotics/ODrive.git
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38 lines
1018 B
Python
38 lines
1018 B
Python
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# TODO: This is dangerous. Transmit as part of the JSON
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AXIS_STATE_UNDEFINED = 0
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AXIS_STATE_IDLE = 1
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AXIS_STATE_STARTUP_SEQUENCE = 2
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AXIS_STATE_FULL_CALIBRATION_SEQUENCE = 3
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AXIS_STATE_MOTOR_CALIBRATION = 4
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AXIS_STATE_SENSORLESS_CONTROL = 5
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AXIS_STATE_ENCODER_INDEX_SEARCH = 6
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AXIS_STATE_ENCODER_OFFSET_CALIBRATION = 7
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AXIS_STATE_CLOSED_LOOP_CONTROL = 8
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AXIS_STATE_HOMING = 9
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AXIS_ERROR_NONE = 0
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AXIS_ERROR_INVALID_STATE = 1
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#AXIS_ERROR_DC_BUS_UNDER_VOLTAGE = 2
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#AXIS_ERROR_DC_BUS_OVER_VOLTAGE = 3
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#AXIS_ERROR_CURRENT_MEASUREMENT_TIMEOUT = 4
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#AXIS_ERROR_CONTROL_LOOP_TIMEOUT = 5
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#AXIS_ERROR_MOTOR_FAILED = 6
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#AXIS_ERROR_SENSORLESS_ESTIMATOR_FAILED = 7
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#AXIS_ERROR_ENCODER_FAILED = 8
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#AXIS_ERROR_CONTROLLER_FAILED = 9
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#AXIS_ERROR_POS_CTRL_DURING_SENSORLESS = 10
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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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ENCODER_MODE_INCREMENTAL = 0
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ENCODER_MODE_HALL = 1
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