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")