*

Makerbase_ODrive/ODrive-fw-v0.5.1/tools/odrive_demo.py

@@ -0,0 +1,53 @@
+#!/usr/bin/env python3
+"""
+Example usage of the ODrive python library to monitor and control ODrive devices
+"""
+
+from __future__ import print_function
+
+import odrive
+from odrive.enums import *
+import time
+import math
+
+# Find a connected ODrive (this will block until you connect one)
+print("finding an odrive...")
+my_drive = odrive.find_any()
+
+# Find an ODrive that is connected on the serial port /dev/ttyUSB0
+#my_drive = odrive.find_any("serial:/dev/ttyUSB0")
+
+# Calibrate motor and wait for it to finish
+print("starting calibration...")
+my_drive.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE
+while my_drive.axis0.current_state != AXIS_STATE_IDLE:
+    time.sleep(0.1)
+
+my_drive.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
+
+# To read a value, simply read the property
+print("Bus voltage is " + str(my_drive.vbus_voltage) + "V")
+
+# Or to change a value, just assign to the property
+my_drive.axis0.controller.pos_setpoint = 3.14
+print("Position setpoint is " + str(my_drive.axis0.controller.pos_setpoint))
+
+# And this is how function calls are done:
+for i in [1,2,3,4]:
+    print('voltage on GPIO{} is {} Volt'.format(i, my_drive.get_adc_voltage(i)))
+
+# A sine wave to test
+t0 = time.monotonic()
+while True:
+    setpoint = 10000.0 * math.sin((time.monotonic() - t0)*2)
+    print("goto " + str(int(setpoint)))
+    my_drive.axis0.controller.pos_setpoint = setpoint
+    time.sleep(0.01)
+
+# Some more things you can try:
+
+# Write to a read-only property:
+my_drive.vbus_voltage = 11.0  # fails with `AttributeError: can't set attribute`
+
+# Assign an incompatible value:
+my_drive.motor0.pos_setpoint = "I like trains"  # fails with `ValueError: could not convert string to float`