codrive 0.1.1

Host library and CLI for the CoDrive motor controller

CoDrive

Python host library and CLI for the CoDrive motor controller.

CoDrive is a compact, high-performance motor controller designed for precise velocity, position, and torque control. This package lets you integrate CoDrive into any Python application and provides a ready-to-use command-line interface for quick commissioning and diagnostics.

Installation

pip install codrive

Quickstart

Python API

from codrive import Controller

with Controller("COM3") as ctrl:          # or /dev/ttyUSB0 on Linux
    ctrl.enable()
    ctrl.set_velocity(300)                # 300 RPM
    t = ctrl.get_telemetry()
    print(f"{t.velocity_rpm:.1f} RPM  {t.temperature_c:.1f} °C")
    ctrl.disable()

CLI

# Enable the drive
codrive COM3 enable

# Spin at 500 RPM
codrive COM3 velocity 500

# Move to 90°
codrive COM3 position 90

# Read live telemetry
codrive COM3 telemetry

# Emergency stop
codrive COM3 estop

Control modes

Command	Description
set_velocity(rpm)	Closed-loop speed control
set_position(degrees)	Absolute position control
set_torque(nm)	Direct torque / current control

Telemetry

Controller.get_telemetry() returns a Telemetry dataclass with:

• velocity_rpm — measured shaft speed (RPM)
• position_deg — absolute shaft angle (°)
• torque_nm — estimated output torque (N·m)
• temperature_c — controller board temperature (°C)
• fault_flags — bitmask of active faults

Requirements

• Python 3.10+
• pyserial
• CoDrive controller connected via USB–serial or UART adapter

License

MIT © Cosyne