Asyncio driver for ODrive
Command ODrive over CAN with a simple interface.
v1.x= Odrive 3.6v2.x= Odrive Pro
Source code: https://gitlab.com/roxautomation/components/odrive-can
Documentation: https://roxautomation.gitlab.io/components/odrive-can
Features
- designed to work with
asyncio - implements full odrive can protocol.
- includes
OdriveMockclass for device simulation - cli tools for message inspection, backup and demo's.
Installation
pip install odrive-can
Basic usage
import asyncio
from odrive_can import ODriveCAN, CanMsg
from odrive_can.tools import UDP_Client
AXIS_ID = 0
INTERFACE = "vcan0"
SETPOINT = 50
udp = UDP_Client() # send data to UDP server for plotting
def feedback_callback_fcn(msg: CanMsg, caller: ODriveCAN):
"""called on position estimate"""
print(msg)
udp.send(msg.data)
async def main():
"""connect to odrive"""
drv = ODriveCAN(axis_id=AXIS_ID, interface=INTERFACE)
# set up callback (optional)
drv.feedback_callback = feedback_callback_fcn
# start
await drv.start()
# check errors (raises exception if any)
drv.check_errors()
# set controller mode
drv.set_controller_mode("POSITION_CONTROL", "POS_FILTER")
# reset encoder
drv.set_linear_count(0)
# set axis state
await drv.set_axis_state("CLOSED_LOOP_CONTROL")
# set position gain
drv.set_pos_gain(3.0)
for _ in range(2):
# setpoint
drv.set_input_pos(SETPOINT)
await asyncio.sleep(5.0)
drv.set_input_pos(-SETPOINT)
await asyncio.sleep(5.0)
drv.set_input_pos(0.0)
asyncio.run(main())
CLI interface
Usage: odrive_can [OPTIONS] COMMAND [ARGS]...
Options:
--help Show this message and exit.
Commands:
backup Backup config to config folder
demo demonstration of control modes
info Print package info
inspect Inspect and decode ODrive CAN messages
mock Mock ODrive CAN interface
Using virtual devices
- create a virtual can adapter (see docs)
- in first terminal run
odrive_can mock - in second terminal run
odrive_can inspect vcan0
Position control demo
odrive_can demo position --interface vcan0
Live plotting data
Demo scripts send data as json to udp://localhost:5005 .
This data can be visualized with plotjuggler
(sender code is found in tools.UDP_Client)
Development
Virtual environment
create virtual envrionment with make venv
Devcontainer
dockerfolder contains devcontainer environment..devcontaineris VSCode devcontainer environment
Support
commercial support is available through www.roxautomation.com
1 maintainer
Metadata
1 maintainer
Release files for odrive-can 2.1.0
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
Source distribution (sdist)
| File | Size | Uploaded | |
|---|---|---|---|
| odrive_can-2.1.0.tar.gz | 2.3 MB | Details |
Built distribution (wheel)
| File | Interpreter | ABI | Platform | Reset |
|---|---|---|---|---|
| odrive_can-2.1.0-py3-none-any.whl | Python 3 | none | any | Details |
Total release size: 2.3 MB
Release files / odrive_can-2.1.0.tar.gz
| Download URL | odrive_can-2.1.0.tar.gz |
|---|---|
| Size | 2.3 MB |
| Tags | Source |
|
SHA-256 checksum How to use checksums |
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No |
| Uploaded via |
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Release files / odrive_can-2.1.0-py3-none-any.whl
| Download URL | odrive_can-2.1.0-py3-none-any.whl |
|---|---|
| Size | 42.7 kB |
| Tags | Python 3 |
|
SHA-256 checksum How to use checksums |
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| Uploaded via |
twine/5.1.1 CPython/3.11.10
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