def connect_driver(self, request):
if self.driver:
return (False, "Already connected.")
self.driver = ODriveInterfaceAPI(logger=ROSLogger())
rospy.loginfo("Connecting to ODrive...")
if not self.driver.connect(odrive_id=self.od_id): #"336431503536"
self.driver = None
#rospy.logerr("Failed to connect.")
return (False, "Failed to connect.")
rospy.loginfo("ODrive connected.")
# okay, connected,
#self.m_s_to_value = self.driver.encoder_cpr/self.tyre_circumference - - Dale removed
#self.driver.axis0.encoder.shadow_count -- is actual position - 1. So on powerup it is -1
#pos_cpr is just position within one rotation. So not work for you with geared motor
if self.publish_odom:
self.old_pos_l = self.driver.axis0.encoder.pos_cpr
self.old_pos_r = self.driver.axis1.encoder.pos_cpr
self.fast_timer_comms_active = True
return (True, "ODrive connected successfully")
def connect_driver(self, request):
if self.driver:
return (False, "Already connected.")
if self.sim_mode:
ODriveClass = ODriveInterfaceSimulator
self.driver = ODriveInterfaceSimulator(logger=ROSLogger())
else:
ODriveClass = ODriveInterfaceAPI
self.driver = ODriveInterfaceAPI(logger=ROSLogger())
rospy.loginfo("Connecting to ODrive...")
if not self.driver.connect(right_axis=self.axis_for_right):
self.driver = None
#rospy.logerr("Failed to connect.")
return (False, "Failed to connect.")
#rospy.loginfo("ODrive connected.")
# okay, connected,
self.m_s_to_value = self.driver.encoder_cpr / self.tyre_circumference
if self.publish_odom:
self.old_pos_l = self.driver.left_axis.encoder.pos_cpr
self.old_pos_r = self.driver.right_axis.encoder.pos_cpr
self.fast_timer_comms_active = True
self.status = "connected"
self.status_pub.publish(self.status)
return (True, "ODrive connected successfully")
def connect_driver(self, request):
# Edit by GGC on June 14:
# Checks if driver is connected. If it is, returns False and says so
# Initializes driver log
# Calls connect() function and passes it what right_axis is
# If it fails to connect, sets driver to None again and returns False
# Calculates conversion from m/s input to count value
# Initializes positions of left and right axes (motors)
# Starts Fast Timer Communications
# If all goes well, returns True and reports that the ODrive connected
if self.driver:
return (False, "Already connected.")
self.driver = ODriveInterfaceAPI(logger=ROSLogger())
rospy.logwarn("Connecting to ODrive...")
if not self.driver.connect(right_axis=self.axis_for_right,snum=self.serial_number): #port=self.port_nunber
self.driver = None
#rospy.logerr("Failed to connect.")
return (False, "Failed to connect.")
#rospy.loginfo("ODrive connected.")
# okay, connected,
self.m_s_to_value = self.driver.encoder_cpr/self.tyre_circumference
if self.publish_odom:
self.old_pos_l = self.driver.left_axis.encoder.pos_cpr
self.old_pos_r = self.driver.right_axis.encoder.pos_cpr
self.fast_timer_comms_active = True
return (True, "ODrive connected successfully")
def connect_driver(self, request):
if self.driver:
rospy.logerr("Already connected.")
return (False, "Already connected.")
self.driver = ODriveInterfaceAPI(calibrate_axis=self.Calibrate_Axis,
USER_CPR=self.user_cpr,
drive_mode=self.drive_mode,
logger=ROSLogger())
rospy.loginfo("Connecting to ODrive...")
if not self.driver.connect(right_axis=self.axis_for_right):
self.driver = False
rospy.logerr("Failed to connect.")
return (False, "Failed to connect.")
rospy.loginfo("ODrive connected.")
self.m_s_to_value = self.driver.encoder_cpr / self.tyre_circumference
if self.publish_odom:
if self.Calibrate_Axis != 1:
self.old_pos_l = self.driver.left_axis.encoder.pos_cpr
else:
self.old_pos_r = self.driver.right_axis.encoder.pos_cpr
return (True, "ODrive connected successfully")
def connect_driver(self, request):
if self.driver:
rospy.logerr("Already connected.")
return (False, "Already connected.")
self.driver = ODriveInterfaceAPI(logger=ROSLogger())
rospy.loginfo("Connecting to ODrive...")
if not self.driver.connect(right_axis=self.axis_for_right):
self.driver = False
rospy.logerr("Failed to connect.")
return (False, "Failed to connect.")
rospy.loginfo("ODrive connected.")
self.m_s_to_value = self.driver.encoder_cpr/self.tyre_circumference
return (True, "ODrive connected successfully")
def connect_driver(self, request):
if self.driver:
return (False, "Already connected.")
self.driver = ODriveInterfaceAPI(logger=ROSLogger())
rospy.loginfo("Connecting to ODrive...")
if not self.driver.connect(right_axis=self.axis_for_right,
odrive_id=self.od_id):
self.driver = None
#rospy.logerr("Failed to connect.")
return (False, "Failed to connect.")
rospy.loginfo("ODrive %s connected." % self.driver.id)
self.start_time = rospy.get_time()
# okay, connected,
return (True, "ODrive connected successfully")
def connect_driver(self, request):
if self.driver:
return (False, "Already connected.")
ODriveClass = ODriveInterfaceAPI if not self.sim_mode else ODriveInterfaceSimulator
self.driver = ODriveInterfaceAPI(logger=ROSLogger())
rospy.loginfo("Connecting to ODrive...")
if not self.driver.connect(tilt_axis=self.axis_for_tilt):
self.driver = None
#rospy.logerr("Failed to connect.")
return (False, "Failed to connect.")
#rospy.loginfo("ODrive connected.")
# okay, connected,
self.fast_timer_comms_active = True
self.status = "connected"
self.status_pub.publish(self.status)
return (True, "ODrive connected successfully")
def connect_driver(self, request):
if self.driver:
rospy.logerr("Already connected.")
return (False, "Already connected.")
#create the driver object which is the ODrive Interface API
self.driver = ODriveInterfaceAPI(logger=ROSLogger())
rospy.loginfo("Connecting to ODrive...")
if not self.driver.connect(right_axis=self.axis_for_right):
self.driver = False
rospy.logerr("Failed to connect.")
return (False, "Failed to connect.")
rospy.loginfo("ODrive connected.")
self.m_s_to_value = self.driver.encoder_cpr / self.tyre_circumference
if self.publish_odom:
self.old_pos_l = self.driver.left_axis.encoder.pos_cpr
self.old_pos_r = self.driver.right_axis.encoder.pos_cpr
return (True, "ODrive connected successfully")
import traceback
import odrive
from odrive.enums import *
from odrive.utils import dump_errors
import pdb
ods = []
count = 3
#ids = ["206A3398304B","2069339E304B", "2069339B304B"]
ids = [None, None]
for i in ids:
od = ODriveInterfaceAPI()
od.connect(odrive_id=i)
pdb.set_trace()
od.engage()
ods.append(od)
start_time = time.time()
cycle_count = 0
while True:
cycle_count += 1
print("Odrive is running at %i hz" % (cycle_count /
(time.time() - start_time)))
for od in ods:
od.drive_pos(10, 10, None)
h = od.driver.axis0.encoder.pos_cpr
h = od.driver.axis1.encoder.pos_cpr