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31 lines
1.0 KiB
Python
Executable File
31 lines
1.0 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.discovery
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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("Waiting for ODrive...")
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my_drive = odrive.discovery.find_any()
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print("connected")
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# Print DRV device regs for Motor 0
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fault = my_drive.motor0.gate_driver.drv_fault
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status_reg_1 = my_drive.motor0.gate_driver.status_reg_1
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status_reg_2 = my_drive.motor0.gate_driver.status_reg_2
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ctrl_reg_1 = my_drive.motor0.gate_driver.ctrl_reg_1
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ctrl_reg_2 = my_drive.motor0.gate_driver.ctrl_reg_2
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print("DRV Fault Code: " + str(fault))
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print("Status Reg 1: " + str(status_reg_1) + " (" + format(status_reg_1, '#010b') + ")")
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print("Status Reg 2: " + str(status_reg_2) + " (" + format(status_reg_2, '#010b') + ")")
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print("Control Reg 1: " + str(ctrl_reg_1) + " (" + format(ctrl_reg_1, '#010b') + ")")
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print("Control Reg 2: " + str(ctrl_reg_2) + " (" + format(ctrl_reg_2, '#010b') + ")")
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