mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-08-22 16:20:30 +08:00
89 lines
3.5 KiB
Python
Executable File
89 lines
3.5 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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# 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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try:
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# If this assignment works, we are already in interactive mode.
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# so just drop out of script to existing shell
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interpreter = sys.ps1
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except AttributeError:
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# We are not in interactive mode, so let's fire one up
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# Though let's be real, IPython is the way to go
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print('If you want to have an improved interactive console with pretty colors,')
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print('you can run this script in interactive mode with IPython with this command:')
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print('ipython -i explore_odrive.py')
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print('')
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# Enter interactive python shell with tab complete enabled
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import code
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import rlcompleter
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import readline
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readline.parse_and_bind("tab: complete")
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code.interact(local=locals(), banner='')
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