*

2025-05-13 01:34:53 +03:00
parent 427735e23d
commit 83f3f1c7d4
945 changed files with 633484 additions and 0 deletions
@@ -0,0 +1,34 @@
+import odrive
+from odrive.enums import *
+from odrive.utils import *
+
+print("finding an odrive...")
+odrv0 = odrive.find_any()
+print('Odrive found')
+
+odrv0.axis1.controller.config.vel_limit = 50000
+odrv0.axis1.controller.config.control_mode = CONTROL_MODE_POSITION_CONTROL
+odrv0.axis1.controller.config.input_mode = INPUT_MODE_PASSTHROUGH
+odrv0.axis1.encoder.config.cpr = 2400
+odrv0.axis1.encoder.config.bandwidth = 1000
+odrv0.axis1.motor.config.calibration_current = 5
+odrv0.axis1.motor.config.current_lim = 5
+odrv0.axis1.controller.config.homing_speed = 5000
+odrv0.config.brake_resistance = 0
+
+odrv0.axis0.min_endstop.config.gpio_num = 6
+odrv0.axis0.min_endstop.config.enabled = True
+odrv0.axis0.min_endstop.config.offset = -1000
+odrv0.axis0.max_endstop.config.gpio_num = 5
+odrv0.axis0.max_endstop.config.enabled = True
+
+odrv0.axis1.min_endstop.config.gpio_num = 8
+odrv0.axis1.min_endstop.config.enabled = True
+odrv0.axis1.min_endstop.config.offset = -1000
+odrv0.axis1.max_endstop.config.gpio_num = 7
+odrv0.axis1.max_endstop.config.enabled = True
+
+odrv0.axis1.config.startup_encoder_offset_calibration = True
+odrv0.axis1.config.startup_motor_calibration = True
+odrv0.axis1.config.startup_homing = True
+odrv0.axis1.config.startup_closed_loop_control = True