def __init__(self, name, serial_no):
self.name = name
self.serial_no = serial_no
self.shutdown_token = Event()
self.logger = Logger(verbose=False)
self.device = None
odrive.find_all("usb", self.serial_no,
lambda device: self.did_discover_device(device),
self.shutdown_token, self.shutdown_token, self.logger)
def main(app_shutdown_token):
"""
!! Main program !!
Looks for odrive, then calibrates, then sets gains, then tests motors
WARNING: Saving more than twice per boot will cause a reversion of all changes
"""
bare_bones_calibration(app_shutdown_token, reset=True)
#bare_bones_calibration(app_shutdown_token, reset=False)
import odrive
from fibre import Logger, Event
from odrive.utils import OperationAbortedException
from fibre.protocol import ChannelBrokenException
app_shutdown_token = Event()
try:
main(app_shutdown_token)
# init_odrive(odrv0)
except OperationAbortedException:
logger.info("Operation aborted.")
finally:
app_shutdown_token.set()
# encoder calibration
# set use_index ot true
# request encoder_index_search
# pre_calibrated to True
# then change startup to encoder_index_search true
#!/usr/bin/python3
import sys
from fibre import Logger, Event
import odrive
sys.stderr.write("ODrive test (using odrive lib version " +
odrive.__version__ + ")\n")
app_shutdown_token = Event()
my_odrive = odrive.find_any(path="usb:003:030",
serial_number=None,
search_cancellation_token=app_shutdown_token,
channel_termination_token=app_shutdown_token)
#print(my_odrive._remote_attributes.items())
print("serial: {}".format(my_odrive.serial_number))
print("encoders pos: {} {}".format(my_odrive.axis0.encoder.pos_estimate,
my_odrive.axis1.encoder.pos_estimate))
print("encoders vel: {} {}".format(my_odrive.axis0.encoder.vel_estimate,
my_odrive.axis1.encoder.vel_estimate))