def connect_all():
global axis0, axis1, axis2, axes
for ii in range(len(odrvs)):
if usb_serials[ii] == None:
continue
print("finding odrive: " + usb_serials[ii] + "...")
# odrvs[ii]= odrive.find_any(serial_number=usb_serials[ii], timeout=30,logger=Logger(verbose=True))
# odrvs[ii] = odrive_interface.ODriveInterfaceAPI(logger=Logger(verbose=True))
odrvs[ii] = odrive_interface.ODriveInterfaceAPI()
# odrvs[ii].connect(serial_number=usb_serials[ii], timeout=30)
# odrvs[ii].connect(serial_number=usb_serials[ii], timeout=30)
# odrvs[ii]= odrive.find_any(timeout=10)
print("found odrive! " + str(ii))
odrvs[0].connect(serial_number="2087378B3548", timeout=30)
axis0 = odrvs[0].driver.axis0
# axis1 = odrvs[1].axis0
# axis2 = odrvs[1].axis1
# axes[0] = axis0
# axes[1] = axis1
# axes[2] = axis2
axes = [axis0]
#!/usr/bin/env python import rospy from std_msgs.msg import Float32MultiArray, Int8, Bool from odrive_ros import odrive_interface bot = odrive_interface.ODriveInterfaceAPI() import kinematicsSolverEdited as kin from time import sleep import Queue deltaKin = kin.deltaSolver() pi = 3.1415 balRad = 1.25 # inches pizRad = 4.0 # inches tab = 70 # inches in2mm = 25.4 mm2in = 1 / in2mm in2m = in2mm / 1000 #Operating heights #zhome = -680 #mm #ztable = -795 #mm #zdrop = -750 #mm # Testing parameters: zhome = -750
from odrive_ros import odrive_interface
import time
od = odrive_interface.ODriveInterfaceAPI(1)
od.connect()
od.calibrate()
od.engage()
od.drive(0, 1000)
time.sleep(5)
od.drive(0, 0)
od.release()
print("finished")