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Divers/odrive/README.md

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+# Parlons actuator, odrive, moteur ...
+## Exemple de code avec la carte odrive robotics
+
+La vidéo de ce tutoriel est disponible à l'adresse suivante: https://www.youtube.com/watch?v=Mg-KiG3Rq2Q
+

Divers/odrive/test0.py

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+import time
+import odrive
+from odrive.enums import *
+
+accel=30.
+vel=4.
+calibration=False
+
+odrv0=odrive.find_any(serial_number='205C3690424D')
+
+if calibration:
+    print("Calibration...", end='', flush=True)
+    odrv0.axis0.requested_state=4
+    odrv0.axis1.requested_state=4
+
+    while odrv0.axis0.current_state != AXIS_STATE_IDLE:
+        time.sleep(0.1)
+    while odrv0.axis1.current_state != AXIS_STATE_IDLE:
+        time.sleep(0.1)        
+    print("OK")
+    
+odrv0.axis0.controller.config.input_mode=INPUT_MODE_TRAP_TRAJ
+odrv0.axis0.trap_traj.config.vel_limit=vel
+odrv0.axis0.trap_traj.config.accel_limit=accel
+odrv0.axis0.trap_traj.config.decel_limit=accel
+odrv0.axis0.controller.config.inertia=0
+
+odrv0.axis1.controller.config.input_mode=INPUT_MODE_TRAP_TRAJ
+odrv0.axis1.trap_traj.config.vel_limit=vel
+odrv0.axis1.trap_traj.config.accel_limit=accel
+odrv0.axis1.trap_traj.config.decel_limit=accel
+odrv0.axis1.controller.config.inertia=0
+
+odrv0.axis0.requested_state=AXIS_STATE_CLOSED_LOOP_CONTROL
+odrv0.axis1.requested_state=AXIS_STATE_CLOSED_LOOP_CONTROL
+
+pos0=odrv0.axis0.encoder.pos_estimate
+pos1=odrv0.axis1.encoder.pos_estimate
+shift=1/5
+
+while True:
+    pos0_finale=pos0+shift
+    pos1_finale=pos1+shift
+    odrv0.axis0.controller.input_pos=pos0_finale
+    odrv0.axis1.controller.input_pos=pos1_finale
+    while abs(odrv0.axis0.encoder.pos_estimate-pos0_finale)>0.02 or \
+          abs(odrv0.axis1.encoder.pos_estimate-pos1_finale)>0.02:
+        time.sleep(0.1)
+    shift=-shift

Divers/odrive/test1.py

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+import time
+import odrive
+from odrive.enums import *
+
+accel=10.
+vel=3.
+calibration=False
+
+odrv0=odrive.find_any(serial_number='205C3690424D')
+
+if calibration:
+    print("Calibration...", end='', flush=True)
+    odrv0.axis0.requested_state=4
+    odrv0.axis1.requested_state=4
+
+    while odrv0.axis0.current_state != AXIS_STATE_IDLE:
+        time.sleep(0.1)
+    while odrv0.axis1.current_state != AXIS_STATE_IDLE:
+        time.sleep(0.1)
+        
+    print("OK")
+
+odrv0.axis0.controller.config.control_mode = CONTROL_MODE_VELOCITY_CONTROL
+odrv0.axis0.controller.config.input_mode = INPUT_MODE_VEL_RAMP
+odrv0.axis1.controller.config.control_mode = CONTROL_MODE_VELOCITY_CONTROL
+odrv0.axis1.controller.config.input_mode = INPUT_MODE_VEL_RAMP
+    
+odrv0.axis0.controller.config.vel_ramp_rate=accel
+odrv0.axis1.controller.config.vel_ramp_rate=accel
+
+odrv0.axis0.requested_state=AXIS_STATE_CLOSED_LOOP_CONTROL
+odrv0.axis1.requested_state=AXIS_STATE_CLOSED_LOOP_CONTROL
+
+odrv0.axis0.controller.input_vel=vel
+odrv0.axis1.controller.input_vel=0
+
+evenement=time.time()
+id=0
+while True:
+    if id==0:
+        torque=odrv0.axis0.motor.current_control.Iq_setpoint*odrv0.axis0.motor.config.torque_constant
+    else:
+        torque=odrv0.axis1.motor.current_control.Iq_setpoint*odrv0.axis1.motor.config.torque_constant
+    if abs(torque)>0.2 and (time.time()-evenement)>1:
+        if id==0:
+            odrv0.axis0.controller.input_vel=0
+            odrv0.axis1.controller.input_vel=vel
+            id=1
+        else:
+            odrv0.axis1.controller.input_vel=0
+            odrv0.axis0.controller.input_vel=vel
+            id=0
+        evenement0=time.time()
+            
+

Divers/odrive/test2.py

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