35 lines
1.2 KiB
Python
35 lines
1.2 KiB
Python
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import odrive
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from odrive.enums import *
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from odrive.utils import *
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print("finding an odrive...")
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odrv0 = odrive.find_any()
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print('Odrive found')
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odrv0.axis1.controller.config.vel_limit = 50000
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odrv0.axis1.controller.config.control_mode = CONTROL_MODE_POSITION_CONTROL
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odrv0.axis1.controller.config.input_mode = INPUT_MODE_PASSTHROUGH
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odrv0.axis1.encoder.config.cpr = 2400
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odrv0.axis1.encoder.config.bandwidth = 1000
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odrv0.axis1.motor.config.calibration_current = 5
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odrv0.axis1.motor.config.current_lim = 5
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odrv0.axis1.controller.config.homing_speed = 5000
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odrv0.config.brake_resistance = 0
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odrv0.axis0.min_endstop.config.gpio_num = 6
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odrv0.axis0.min_endstop.config.enabled = True
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odrv0.axis0.min_endstop.config.offset = -1000
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odrv0.axis0.max_endstop.config.gpio_num = 5
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odrv0.axis0.max_endstop.config.enabled = True
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odrv0.axis1.min_endstop.config.gpio_num = 8
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odrv0.axis1.min_endstop.config.enabled = True
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odrv0.axis1.min_endstop.config.offset = -1000
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odrv0.axis1.max_endstop.config.gpio_num = 7
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odrv0.axis1.max_endstop.config.enabled = True
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odrv0.axis1.config.startup_encoder_offset_calibration = True
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odrv0.axis1.config.startup_motor_calibration = True
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odrv0.axis1.config.startup_homing = True
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odrv0.axis1.config.startup_closed_loop_control = True
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