Initial commit

Divers/odrive/test0.py

@@ -0,0 +1,49 @@
+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