*

Makerbase_ODrive/ODrive-fw-v0.5.1/Arduino/ODriveArduino/LICENSE

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+MIT License
+
+Copyright (c) 2017 Oskar Weigl
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

Makerbase_ODrive/ODrive-fw-v0.5.1/Arduino/ODriveArduino/ODriveArduino.cpp

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+
+#include "Arduino.h"
+#include "ODriveArduino.h"
+
+static const int kMotorOffsetFloat = 2;
+static const int kMotorStrideFloat = 28;
+static const int kMotorOffsetInt32 = 0;
+static const int kMotorStrideInt32 = 4;
+static const int kMotorOffsetBool = 0;
+static const int kMotorStrideBool = 4;
+static const int kMotorOffsetUint16 = 0;
+static const int kMotorStrideUint16 = 2;
+
+// Print with stream operator
+template<class T> inline Print& operator <<(Print &obj,     T arg) { obj.print(arg);    return obj; }
+template<>        inline Print& operator <<(Print &obj, float arg) { obj.print(arg, 4); return obj; }
+
+ODriveArduino::ODriveArduino(Stream& serial)
+    : serial_(serial) {}
+
+void ODriveArduino::SetPosition(int motor_number, float position) {
+    SetPosition(motor_number, position, 0.0f, 0.0f);
+}
+
+void ODriveArduino::SetPosition(int motor_number, float position, float velocity_feedforward) {
+    SetPosition(motor_number, position, velocity_feedforward, 0.0f);
+}
+
+void ODriveArduino::SetPosition(int motor_number, float position, float velocity_feedforward, float current_feedforward) {
+    serial_ << "p " << motor_number  << " " << position << " " << velocity_feedforward << " " << current_feedforward << "\n";
+}
+
+void ODriveArduino::SetVelocity(int motor_number, float velocity) {
+    SetVelocity(motor_number, velocity, 0.0f);
+}
+
+void ODriveArduino::SetVelocity(int motor_number, float velocity, float current_feedforward) {
+    serial_ << "v " << motor_number  << " " << velocity << " " << current_feedforward << "\n";
+}
+
+void ODriveArduino::SetCurrent(int motor_number, float current) {
+    serial_ << "c " << motor_number << " " << current << "\n";
+}
+
+void ODriveArduino::TrapezoidalMove(int motor_number, float position){
+    serial_ << "t " << motor_number << " " << position << "\n";
+}
+
+float ODriveArduino::readFloat() {
+    return readString().toFloat();
+}
+
+float ODriveArduino::GetVelocity(int motor_number){
+	serial_<< "r axis" << motor_number << ".encoder.vel_estimate\n";
+	return ODriveArduino::readFloat();
+}
+
+int32_t ODriveArduino::readInt() {
+    return readString().toInt();
+}
+
+bool ODriveArduino::run_state(int axis, int requested_state, bool wait) {
+    int timeout_ctr = 100;
+    serial_ << "w axis" << axis << ".requested_state " << requested_state << '\n';
+    if (wait) {
+        do {
+            delay(100);
+            serial_ << "r axis" << axis << ".current_state\n";
+        } while (readInt() != requested_state && --timeout_ctr > 0);
+    }
+
+    return timeout_ctr > 0;
+}
+
+String ODriveArduino::readString() {
+    String str = "";
+    static const unsigned long timeout = 1000;
+    unsigned long timeout_start = millis();
+    for (;;) {
+        while (!serial_.available()) {
+            if (millis() - timeout_start >= timeout) {
+                return str;
+            }
+        }
+        char c = serial_.read();
+        if (c == '\n')
+            break;
+        str += c;
+    }
+    return str;
+}

Makerbase_ODrive/ODrive-fw-v0.5.1/Arduino/ODriveArduino/ODriveArduino.h

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+
+#ifndef ODriveArduino_h
+#define ODriveArduino_h
+
+#include "Arduino.h"
+
+class ODriveArduino {
+public:
+    enum AxisState_t {
+        AXIS_STATE_UNDEFINED = 0,           //<! will fall through to idle
+        AXIS_STATE_IDLE = 1,                //<! disable PWM and do nothing
+        AXIS_STATE_STARTUP_SEQUENCE = 2, //<! the actual sequence is defined by the config.startup_... flags
+        AXIS_STATE_FULL_CALIBRATION_SEQUENCE = 3,   //<! run all calibration procedures, then idle
+        AXIS_STATE_MOTOR_CALIBRATION = 4,   //<! run motor calibration
+        AXIS_STATE_SENSORLESS_CONTROL = 5,  //<! run sensorless control
+        AXIS_STATE_ENCODER_INDEX_SEARCH = 6, //<! run encoder index search
+        AXIS_STATE_ENCODER_OFFSET_CALIBRATION = 7, //<! run encoder offset calibration
+        AXIS_STATE_CLOSED_LOOP_CONTROL = 8  //<! run closed loop control
+    };
+
+    ODriveArduino(Stream& serial);
+
+    // Commands
+    void SetPosition(int motor_number, float position);
+    void SetPosition(int motor_number, float position, float velocity_feedforward);
+    void SetPosition(int motor_number, float position, float velocity_feedforward, float current_feedforward);
+    void SetVelocity(int motor_number, float velocity);
+    void SetVelocity(int motor_number, float velocity, float current_feedforward);
+    void SetCurrent(int motor_number, float current);
+    void TrapezoidalMove(int motor_number, float position);
+    // Getters
+    float GetVelocity(int motor_number);
+    // General params
+    float readFloat();
+    int32_t readInt();
+
+    // State helper
+    bool run_state(int axis, int requested_state, bool wait);
+private:
+    String readString();
+
+    Stream& serial_;
+};
+
+#endif //ODriveArduino_h

Makerbase_ODrive/ODrive-fw-v0.5.1/Arduino/ODriveArduino/README.md

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+# ODriveArduino
+Arduino library for the ODrive
+
+To install the library, first clone this repository. In the Arduino IDE select: *Sketch -> Include Library -> Add .ZIP Library...*
+
+Select the enclosing folder (e.g. ODriveArduino) to add it. Restarting the Arduino IDE may be necessary to see the examples in the *File* dropdown. Check the included example *ODriveArduinoTest* for basic usage. 

Makerbase_ODrive/ODrive-fw-v0.5.1/Arduino/ODriveArduino/examples/ODriveArduinoTest/ODriveArduinoTest.ino

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+
+#include <SoftwareSerial.h>
+#include <ODriveArduino.h>
+
+// Printing with stream operator
+template<class T> inline Print& operator <<(Print &obj,     T arg) { obj.print(arg);    return obj; }
+template<>        inline Print& operator <<(Print &obj, float arg) { obj.print(arg, 4); return obj; }
+
+// Serial to the ODrive
+SoftwareSerial odrive_serial(8, 9); //RX (ODrive TX), TX (ODrive RX)
+// Note: you must also connect GND on ODrive to GND on Arduino!
+
+// ODrive object
+ODriveArduino odrive(odrive_serial);
+
+void setup() {
+  // ODrive uses 115200 baud
+  odrive_serial.begin(115200);
+
+  // Serial to PC
+  Serial.begin(115200);
+  while (!Serial) ; // wait for Arduino Serial Monitor to open
+
+  Serial.println("ODriveArduino");
+  Serial.println("Setting parameters...");
+
+  // In this example we set the same parameters to both motors.
+  // You can of course set them different if you want.
+  // See the documentation or play around in odrivetool to see the available parameters
+  for (int axis = 0; axis < 2; ++axis) {
+    odrive_serial << "w axis" << axis << ".controller.config.vel_limit " << 22000.0f << '\n';
+    odrive_serial << "w axis" << axis << ".motor.config.current_lim " << 11.0f << '\n';
+    // This ends up writing something like "w axis0.motor.config.current_lim 10.0\n"
+  }
+
+  Serial.println("Ready!");
+  Serial.println("Send the character '0' or '1' to calibrate respective motor (you must do this before you can command movement)");
+  Serial.println("Send the character 's' to exectue test move");
+  Serial.println("Send the character 'b' to read bus voltage");
+  Serial.println("Send the character 'p' to read motor positions in a 10s loop");
+}
+
+void loop() {
+
+  if (Serial.available()) {
+    char c = Serial.read();
+
+    // Run calibration sequence
+    if (c == '0' || c == '1') {
+      int motornum = c-'0';
+      int requested_state;
+
+      requested_state = ODriveArduino::AXIS_STATE_MOTOR_CALIBRATION;
+      Serial << "Axis" << c << ": Requesting state " << requested_state << '\n';
+      odrive.run_state(motornum, requested_state, true);
+
+      requested_state = ODriveArduino::AXIS_STATE_ENCODER_OFFSET_CALIBRATION;
+      Serial << "Axis" << c << ": Requesting state " << requested_state << '\n';
+      odrive.run_state(motornum, requested_state, true);
+
+      requested_state = ODriveArduino::AXIS_STATE_CLOSED_LOOP_CONTROL;
+      Serial << "Axis" << c << ": Requesting state " << requested_state << '\n';
+      odrive.run_state(motornum, requested_state, false); // don't wait
+    }
+
+    // Sinusoidal test move
+    if (c == 's') {
+      Serial.println("Executing test move");
+      for (float ph = 0.0f; ph < 6.28318530718f; ph += 0.01f) {
+        float pos_m0 = 20000.0f * cos(ph);
+        float pos_m1 = 20000.0f * sin(ph);
+        odrive.SetPosition(0, pos_m0);
+        odrive.SetPosition(1, pos_m1);
+        delay(5);
+      }
+    }
+
+    // Read bus voltage
+    if (c == 'b') {
+      odrive_serial << "r vbus_voltage\n";
+      Serial << "Vbus voltage: " << odrive.readFloat() << '\n';
+    }
+
+    // print motor positions in a 10s loop
+    if (c == 'p') {
+      static const unsigned long duration = 10000;
+      unsigned long start = millis();
+      while(millis() - start < duration) {
+        for (int motor = 0; motor < 2; ++motor) {
+          odrive_serial << "r axis" << motor << ".encoder.pos_estimate\n";
+          Serial << odrive.readFloat() << '\t';
+        }
+        Serial << '\n';
+      }
+    }
+  }
+}