madcowswe

import odrive
from odrive.enums import *
import time

print("Finding an odrive...")
odrv = odrive.find_any()

axes = [odrv.axis0, odrv.axis1];
# axes = [odrv.axis1];

madcowswe

Connected to ODrive 376E36503137 as odrv0
In [1]: odrv0
Out[1]:
vbus_voltage = 12.1695556640625 (float)
serial_number = 376E36503137 (int)
hw_version_major = 3 (int)
hw_version_minor = 5 (int)
hw_version_variant = 48 (int)
fw_version_major = 0 (int)
fw_version_minor = 4 (int)

madcowswe

function [y,yd,ydd] = straj(D, Vmax, Amax, dt, V0, Vf)
%TODO: Pass move time
%TODO: Short moves

%Calculate Additional params
Sgn = sign(D);
Df = abs(D);

% Compute Accel/Decel Times
T1 = 2*(Vmax-V0)/Amax;

madcowswe

In [9]: a = a - min(a)

# Timing of TIMING_LOG_ADC_CB_M0_I
In [10]: a
Out[10]:
array([130, 126, 132, 126,   0,   0, 126, 400, 268, 126,   0, 130,   0,
         0,   0,   0, 126,   0,   0,   0,   0,   0, 126, 126,   0,   0,
         0, 130, 126, 132, 214,   0,   0, 126,  38, 222,   0,   0,   0,
        38,  38,   0,   0,   0, 132, 376,   0,   0, 256, 206,   0, 208,

madcowswe

#ifndef _DRV8323_H_
#define _DRV8323_H_
#ifdef __cplusplus
 extern "C" {
#endif

#include "stdbool.h"
#include "stdint.h"
#include "stm32f4xx_hal.h"

madcowswe

// **************************************************************************

//#include "cmsis_os.h"
#include "drv8323.h"

extern SPI_HandleTypeDef hspi3;

//default values for the DRV8323 registers
uint16_t DRV8323regDrvCtrl =
  0 << 9  | //DIS_CPUV

madcowswe

/*
Arduino Library for SyRen/Sabertooth Packet Serial
Copyright (c) 2012-2013 Dimension Engineering LLC
http://www.dimensionengineering.com/arduino

Permission to use, copy, modify, and/or distribute this software for any
purpose with or without fee is hereby granted, provided that the above
copyright notice and this permission notice appear in all copies.

THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES

madcowswe

<h2 id="i-tmp-title">Contributor Agreement</h2>
<h2 id="i-tmp-subtitle"><span id="i-tmp-contributor-type">Individual</span> Contributor <span id="i-tmp-contributor-exclusivity">Non-Exclusive</span> License Agreement</h2>
 
<p>Thank you for your interest in contributing to <span id="i-tmp-project-name">ODrive</span> ("We" or "Us").</p>
 
<p>The purpose of this contributor agreement ("Agreement") is to clarify and document the rights granted by contributors to Us. To make this document effective, please sign using the CLA assistant on GitHub, which is prompted during the Pull Request process.</p>
 
 
<h3>1. DEFINITIONS</h3>