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ODrive Tools

Overview

These tools provide functionality for interacting with ODrive devices via a CAN bus, including device discovery, configuration, and demonstration actions such as setting positions or running predefined movements.

Setup

  • Requires Python 3.6 or newer.
  • Dependencies: python-can. Install with pip install python-can.

Tools and Scripts

  • calibrate.py: Runs ODrive calibration sequence on each detected ODrive, one at a time.
  • clear_errors.py: Clears all errors on detected ODrive devices.
  • setup.py: Configures ODrive devices based on settings specified in config.py.
  • test_console.py: Slider tUI, controls position for all ODrvies.

Project Structure

tools/
├── README.md           
├── calibrate.py            - Calibrates ODrives
├── clear_errors.py         - Clears ODrive errors
├── console.py              - TUI test console to control motors
├── convert_id.py           - Changes ODrive node ids
├── gamecontroller.py       - Game controller console to control motors
├── setup.py                - Applies config.py values to all ODrives
├── data
│   ├── config.py           - Configuration settings for ODrive devices.
│   └── flat_endpoints.json - Detailed list of ODrive firmware endpoints.
└── src
    ├── can_utils.py        - Utility functions for CAN communication.
    ├── configure.py        - Applies configurations to ODrive devices.
    ├── control.py          - Interfaces for control actions on ODrive devices.
    └── metrics.py          - Polls a variety of ODrive metrics.

Configuration

  • config.py: Contains user-defined settings for ODrive devices, such as motor parameters and control modes.
  • Ensure this file is properly edited to match your hardware setup before running setup.py.

Usage

  1. Configuring ODrives: Run python setup.py to apply settings from config.py to connected ODrive devices.
  2. Clearing Errors: Execute python clear_errors.py to clear any errors from ODrive devices, ensuring they are ready for operation.
  3. Demonstration Scripts: Run python test_console.py to demonstrate various capabilities of the ODrive motors and display live metrics.

Error Handling

Scripts are equipped with basic error handling for common issues such as missing configuration keys or communication failures, ensuring smooth operation during setup and demonstrations.