Connecting to ODrive
Connecting to a Single ODrive
from dpea_odrive.odrive_helpers import *
od = find_odrive()
assert od.config.enable_brake_resistor is True, "Check for faulty brake resistor."
# axis0 and axis1 correspond to M0 and M1 on the ODrive
ax = ODriveAxis(od.axis0)
dump_errors(od)
The ax = ODriveAxis(od.axis0) line is used to refer to one of the two motors on our board. Each ODrive board can control up to two motors. Take a look at the example below to see how you can connect to a 3-axis setup.
Connecting to Multiple ODrives
The serial_number for each board can be found by running odrivetool or calling find_odrive(). The serial number will be noted in the text that says, Connected to <serial_number> as odrv0. This text will be blue inodrivetool or will be printed during the call to find_odrive(). Have one ODrive plugged in at a time to isolate each serial number.
from odrive_helpers import *
od_xy = find_odrive(serial_number="12345ABC")
od_z = find_odrive(serial_number="67890DEF")
assert od_xy.config.enable_brake_resistor is True, "Check for faulty brake resistor."
assert od_z.config.enable_brake_resistor is True, "Check for faulty brake resistor."
# axis0 and axis1 correspond to M0 and M1 on the ODrive
x_axis = ODriveAxis(od_xy.axis0)
y_axis = ODriveAxis(od_xy.axis1)
z_axis = ODriveAxis(od_z.axis0)
dump_errors(od_xy)
dump_errors(od_z)