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Tinyu-Zhao
60 lines
1.4 KiB
Python
60 lines
1.4 KiB
Python
# SPDX-FileCopyrightText: 2024 M5Stack Technology CO LTD
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#
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# SPDX-License-Identifier: MIT
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import os, sys, io
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import M5
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from M5 import *
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from module import ODriveModule
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odrive_0 = None
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def setup():
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global odrive_0
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M5.begin()
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Widgets.fillScreen(0x222222)
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odrive_0 = ODriveModule(2, (13, 5))
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print(odrive_0.get_velocity())
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print(odrive_0.get_vbus_voltage())
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print(odrive_0.get_phase_current())
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print(odrive_0.get_bus_current())
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print(odrive_0.get_encoder_shadow_count())
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print(odrive_0.get_encoder_pos_estimate())
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print(odrive_0.get_motor_temp())
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odrive_0.set_position(10, 1, 1)
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odrive_0.set_velocity(1, 1)
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odrive_0.set_current(1)
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odrive_0.set_gain(0.1, 0.1, 0.1)
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odrive_0.set_control_mode(ODriveModule.CONTROL_MODE_VOLTAGE_CONTROL)
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odrive_0.set_control_input_pos(0)
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odrive_0.trapezoidal_move(0)
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odrive_0.run_state(ODriveModule.AXIS_STATE_IDLE, 0)
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odrive_0.save_config()
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odrive_0.erase_config()
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odrive_0.set_default_config()
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odrive_0.check_error()
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odrive_0.reboot()
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def loop():
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global odrive_0
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M5.update()
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if __name__ == "__main__":
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try:
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setup()
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while True:
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loop()
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except (Exception, KeyboardInterrupt) as e:
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try:
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from utility import print_error_msg
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print_error_msg(e)
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except ImportError:
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print("please update to latest firmware")
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