def __init__(self):
        rospy.init_node('hardware_node', anonymous=True)
        rospy.on_shutdown(self.shutdown_handler)

        # Setup subscribers
        #self.command_sub = rospy.Subscriber('/gait_cmd', GaitCmdMsg, self.command_callback) #nama topic, tipe msg, interrupt
        self.setpoint_sub = rospy.Subscriber('/RF2_pos_controller/command',
                                             Float64,
                                             self.command_callback_RF2)
        self.setpoint_sub = rospy.Subscriber('/RF3_pos_controller/command',
                                             Float64,
                                             self.command_callback_RF3)

        # Setup timer events
        # every 1/10 secs execute self.do_something
        self.frequency = 10
        self.process_timer = rospy.Timer(
            rospy.Duration.from_sec(1.0 / self.frequency),
            self.do_something)  #bikin timer interrupt, ngelakuin do something

        self.setpoint_RF2 = 0
        self.serpoint_RF3 = 0

        # Find a connected ODrive (this will block until you connect one)
        print("finding an odrive...")
        self.my_drive = odrive.find_any()
        # Find an ODrive that is connected on the serial port /dev/ttyUSB0
        self.my_drive.axis0.controller.pos_setpoint = -1 * 0.167356116281 * (
            24 * 8192 / 6.28)
        self.my_drive.axis0.encoder.set_linear_count(-1 * 0.167356116281 *
                                                     (24 * 8192 / 6.28))
        self.my_drive.axis1.controller.pos_setpoint = -1 * 0.167356116281 * (
            24 * 8192 / 6.28)
        self.my_drive.axis1.encoder.set_linear_count(-6.29654472 *
                                                     (24 * 8192 / 6.28))

        # Calibrate motor and wait for it to finish
        print("starting calibration...")
        start_liveplotter(lambda: [
            self.my_drive.axis0.encoder.pos_estimate * 360 / 8192, -1 * self.
            my_drive.axis1.encoder.pos_estimate * 360 / 8192
        ])

        self.my_drive.axis0.encoder.is_ready = True
        self.my_drive.axis1.encoder.is_ready = True

        self.my_drive.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
        self.my_drive.axis1.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
import time
import math
import numpy
import time

# Find a connected ODrive (this will block until you connect one)
print("finding an odrive...")
my_drive = odrive.find_any()
dump_errors(my_drive,True)

# Find an ODrive that is connected on the serial port /dev/ttyUSB0
#my_drive = odrive.find_any("serial:/dev/ttyUSB0")

#use the plotter to monitor the current and position
# start_liveplotter(lambda: [(my_drive.axis0.motor.current_control.Iq_measured*100),my_drive.axis0.encoder.count_in_cpr])
start_liveplotter(lambda: [(my_drive.axis0.controller.input_pos),my_drive.axis0.encoder.pos_estimate])


# Calibrate motor and wait for it to finish
print("starting calibration...")
my_drive.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE
while my_drive.axis0.current_state != AXIS_STATE_IDLE:
    time.sleep(0.1)

my_drive.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
time.sleep(5)
# EXAMPLE
# Read and print the voltage property
print("Bus voltage is " + str(my_drive.vbus_voltage) + "V")

Exemple #3
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def pos_plotter(odrvAxis):
    utils.start_liveplotter(lambda: [
        odrvAxis.encoder.pos_estimate, odrvAxis.controller.pos_setpoint,
        odrvAxis.controller.pos_setpoint - odrvAxis.encoder.pos_estimate
    ])
Exemple #4
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import odrive
from odrive.enums import *
from odrive.utils import start_liveplotter
import time
import math
import numpy

# Find a connected ODrive (this will block until you connect one)
print("finding an odrive...")
my_drive = odrive.find_any()

# Find an ODrive that is connected on the serial port /dev/ttyUSB0
#my_drive = odrive.find_any("serial:/dev/ttyUSB0")

#use the plotter to monitor the current and position
start_liveplotter(lambda: [(my_drive.axis0.motor.current_control.Iq_measured *
                            100), my_drive.axis0.encoder.count_in_cpr])

# Calibrate motor and wait for it to finish
print("starting calibration...")
my_drive.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE
while my_drive.axis0.current_state != AXIS_STATE_IDLE:
    time.sleep(0.1)

my_drive.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL

# EXAMPLE
# Read and print the voltage property
print("Bus voltage is " + str(my_drive.vbus_voltage) + "V")

# EXAMPLE
# change a value, just assign to the property