mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-08-19 02:43:27 +08:00
104 lines
3.7 KiB
Python
104 lines
3.7 KiB
Python
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import sys
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import platform
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import threading
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import fibre
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import odrive
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import odrive.enums
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from odrive.utils import *
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def print_banner():
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print("Website: https://odriverobotics.com/")
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print("Docs: https://docs.odriverobotics.com/")
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print("Forums: https://discourse.odriverobotics.com/")
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print("Discord: https://discord.gg/k3ZZ3mS")
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print("Github: https://github.com/madcowswe/ODrive/")
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print()
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print('Please connect your ODrive.')
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print('You can also type help() or quit().')
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def print_help(args, have_devices):
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print('')
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if have_devices:
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print('Connect your ODrive to {} and power it up.'.format(args.path))
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print('After that, the following message should appear:')
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print(' "Connected to ODrive [serial number] as odrv0"')
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print('')
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print('Once the ODrive is connected, type "odrv0." and press <tab>')
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else:
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print('Type "odrv0." 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: "odrv0.axis0.encoder.pos_estimate"')
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print('will print the current encoder position on axis 0')
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print('and "odrv0.axis0.controller.input_pos = 0.5"')
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print('will send axis 0 to 0.5 turns')
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print('')
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interactive_variables = {}
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discovered_devices = []
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def did_discover_device(odrive, logger, app_shutdown_token):
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"""
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Handles the discovery of new devices by displaying a
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message and making the device available to the interactive
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console
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"""
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serial_number = odrive.serial_number if hasattr(odrive, 'serial_number') else "[unknown serial number]"
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if serial_number in discovered_devices:
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verb = "Reconnected"
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index = discovered_devices.index(serial_number)
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else:
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verb = "Connected"
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discovered_devices.append(serial_number)
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index = len(discovered_devices) - 1
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interactive_name = "odrv" + str(index)
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# Publish new ODrive to interactive console
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interactive_variables[interactive_name] = odrive
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globals()[interactive_name] = odrive # Add to globals so tab complete works
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logger.notify("{} to ODrive {:012X} as {}".format(verb, serial_number, interactive_name))
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# Subscribe to disappearance of the device
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odrive.__channel__._channel_broken.subscribe(lambda: did_lose_device(interactive_name, logger, app_shutdown_token))
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def did_lose_device(interactive_name, logger, app_shutdown_token):
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"""
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Handles the disappearance of a device by displaying
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a message.
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"""
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if not app_shutdown_token.is_set():
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logger.warn("Oh no {} disappeared".format(interactive_name))
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def launch_shell(args, logger, app_shutdown_token):
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"""
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Launches an interactive python or IPython command line
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interface.
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As ODrives are connected they are made available as
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"odrv0", "odrv1", ...
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"""
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interactive_variables = {
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'start_liveplotter': start_liveplotter,
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'dump_errors': dump_errors,
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'oscilloscope_dump': oscilloscope_dump,
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'dump_interrupts': dump_interrupts,
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'dump_dma': dump_dma,
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'BulkCapture': BulkCapture,
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'step_and_plot': step_and_plot,
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'calculate_thermistor_coeffs': calculate_thermistor_coeffs,
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'set_motor_thermistor_coeffs': set_motor_thermistor_coeffs
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}
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# Expose all enums from odrive.enums
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interactive_variables.update({k: v for (k, v) in odrive.enums.__dict__.items() if not k.startswith("_")})
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fibre.launch_shell(args,
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interactive_variables,
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print_banner, print_help,
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logger, app_shutdown_token,
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branding_short="odrv", branding_long="ODrive")
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