41 lines
1.0 KiB
Python
41 lines
1.0 KiB
Python
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import time
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import odrive
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from odrive.enums import *
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accel=20.
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vel=5.
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ratio=2
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calibration=False
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odrv0=odrive.find_any(serial_number='205C3690424D')
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if calibration:
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print("Calibration...", end='', flush=True)
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odrv0.axis0.requested_state=4
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odrv0.axis1.requested_state=4
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while odrv0.axis0.current_state != AXIS_STATE_IDLE:
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time.sleep(0.1)
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while odrv0.axis1.current_state != AXIS_STATE_IDLE:
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time.sleep(0.1)
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print("OK")
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odrv0.axis0.requested_state=AXIS_STATE_CLOSED_LOOP_CONTROL
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odrv0.axis1.requested_state=AXIS_STATE_CLOSED_LOOP_CONTROL
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odrv0.axis0.controller.config.input_mode = INPUT_MODE_TRAP_TRAJ
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odrv0.axis0.trap_traj.config.vel_limit=vel
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odrv0.axis0.trap_traj.config.accel_limit=accel
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odrv0.axis0.trap_traj.config.decel_limit=accel
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odrv0.axis0.controller.config.inertia=0
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pos0=odrv0.axis0.encoder.pos_estimate
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pos1=odrv0.axis1.encoder.pos_estimate
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odrv0.axis1.requested_state=AXIS_STATE_IDLE
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while True:
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delta1=odrv0.axis1.encoder.pos_estimate-pos1
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odrv0.axis0.controller.input_pos=pos0+ratio*delta1
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