odrive tool

README.md

@@ -11,9 +11,24 @@ brew install libusb
 ```
 
 ```
-pip install odrive
+pip install -r dev_requirements.txt
+pip install -r requirements.txt
 ```
 
 ## The Odrive interface
 
-https://docs.odriverobotics.com/odrivetool.html
+https://docs.odriverobotics.com/odrivetool.html
+
+## The examples 
+
+The motors used in the example are from Alibaba and listed as 
+[24V 36V 48V 6.5 inch wheel hub motor RBE-102036-002 with encoder for robot]. 
+
+
+
+
+
+
+
+
+[24V 36V 48V 6.5 inch wheel hub motor RBE-102036-002 with encoder for robot]: https://www.alibaba.com/product-detail/24V-36V-48V-6-5-inch_60843979831.html?spm=a2700.galleryofferlist.normal_offer.d_title.646a42f9aowWtJ

dev_requirments.txt

@@ -1,30 +1,56 @@
 #
-# This file is autogenerated by pip-compile
+# This file is autogenerated by pip-compile with python 3.8
 # To update, run:
 #
 #    pip-compile dev_requirments.in
 #
-appdirs==1.4.3            # via black
+appdirs==1.4.3
-attrs==19.3.0             # via black, pytest
+    # via black
-black==19.10b0            # via -r dev_requirments.in
+attrs==19.3.0
-click==7.1.1              # via black, pip-tools
+    # via
-entrypoints==0.3          # via flake8
+    #   black
-flake8==3.7.9             # via -r dev_requirments.in
+    #   pytest
-importlib-metadata==1.5.0  # via pluggy, pytest
+black==19.10b0
-mccabe==0.6.1             # via flake8
+    # via -r dev_requirments.in
-more-itertools==8.2.0     # via pytest
+click==7.1.1
-packaging==20.3           # via pytest
+    # via
-pathspec==0.7.0           # via black
+    #   black
-pip-tools==4.5.1          # via -r dev_requirments.in
+    #   pip-tools
-pluggy==0.13.1            # via pytest
+entrypoints==0.3
-py==1.8.1                 # via pytest
+    # via flake8
-pycodestyle==2.5.0        # via flake8
+flake8==3.7.9
-pyflakes==2.1.1           # via flake8
+    # via -r dev_requirments.in
-pyparsing==2.4.6          # via packaging
+mccabe==0.6.1
-pytest==5.4.1             # via -r dev_requirments.in
+    # via flake8
-regex==2020.2.20          # via black
+more-itertools==8.2.0
-six==1.14.0               # via packaging, pip-tools
+    # via pytest
-toml==0.10.0              # via black
+packaging==20.3
-typed-ast==1.4.1          # via black
+    # via pytest
-wcwidth==0.1.8            # via pytest
+pathspec==0.7.0
-zipp==3.1.0               # via importlib-metadata
+    # via black
+pip-tools==4.5.1
+    # via -r dev_requirments.in
+pluggy==0.13.1
+    # via pytest
+py==1.8.1
+    # via pytest
+pycodestyle==2.5.0
+    # via flake8
+pyflakes==2.1.1
+    # via flake8
+pyparsing==2.4.6
+    # via packaging
+pytest==5.4.1
+    # via -r dev_requirments.in
+regex==2020.2.20
+    # via black
+six==1.14.0
+    # via
+    #   packaging
+    #   pip-tools
+toml==0.10.0
+    # via black
+typed-ast==1.4.1
+    # via black
+wcwidth==0.1.8
+    # via pytest

example/odrive-ctl.py

@@ -0,0 +1,62 @@
+from pathlib import Path, PurePath
+
+import click
+import yaml
+
+# OPTIONS
+
+config_option = click.option(
+    '-c',
+    '--config',
+    default=PurePath(Path(__file__).parent, Path('odrive.yaml')),
+    type=Path,
+    help='A config file for the odrive. Defaults to odrive.yaml.'
+)
+
+
+@click.group()
+def cli():
+    pass
+
+
+@cli.command('configure')
+@config_option
+def configure(**options):
+    """Configures an Odrive with a provided .yaml file of config values."""
+    config_file = options['config']
+    if not config_file.is_file():
+        raise FileNotFoundError(f'No config file {config_file} found.')
+    print(options['config'])
+
+
+class RoboWheelConfig:
+    """
+    Class for configuring an Odrive axis.
+    """
+
+    # Motor KV
+    KV_RATING = 10.0
+
+    # min/max phase inductance of motor
+    MIN_PHASE_INDUCTANCE = 0.0  # ?
+    MAX_PHASE_INDUCTANCE = 0.001  # ?
+
+    # Min/Max phase resistance of motor
+    MIN_PHASE_RESISTANCE = 0.0  # ?
+    MAX_PHASE_RESISTANCE = 2.5  # ? I think my motor is 1.7 ohm...
+
+    ENCODER_PULSE_PER_REV = 3200.0
+    ENCODER_COUNT_PER_REV = ENCODER_PULSE_PER_REV * 4
+
+    # Number of magnets in the motor divided by 2
+    POLE_PAIR_COUNT = 27.0
+
+    # See https://docs.odriverobotics.com/hoverboard
+    RESISTANCE_CALIB_MAX_VOLTAGE = 4.0  # HB motors are larger with more resistance so he doubled the 2.0 default
+    REQUESTED_CURRENT_RANGE = 25.0  # lower values are more sensitive default was 60
+    CURRENT_CONTROL_BANDWIDTH = 100.0  # Motors are also high inductance so the bandwidth to 100 from the default 1000
+    TORQUE_CONSTANT = 8.27 / KV_RATING
+
+
+if __name__ == "__main__":
+    cli()

requirements.in

@@ -1 +1,3 @@
-odrive==0.4.11
+click==7.1.1
+odrive
+pyyaml

requirements.txt

@@ -1,40 +1,80 @@
 #
-# This file is autogenerated by pip-compile
+# This file is autogenerated by pip-compile with python 3.8
 # To update, run:
 #
 #    pip-compile requirements.in
 #
-appnope==0.1.0            # via ipython
+appnope==0.1.0
-backcall==0.1.0           # via ipython
+    # via ipython
-certifi==2019.11.28       # via requests
+backcall==0.1.0
-chardet==3.0.4            # via requests
+    # via ipython
-cycler==0.10.0            # via matplotlib
+certifi==2019.11.28
-decorator==4.4.2          # via ipython, traitlets
+    # via requests
-idna==2.9                 # via requests
+chardet==3.0.4
-intelhex==2.2.1           # via odrive
+    # via requests
-ipython-genutils==0.2.0   # via traitlets
+click==7.1.1
-ipython==7.13.0           # via odrive
+    # via -r requirements.in
-jedi==0.16.0              # via ipython
+cycler==0.10.0
-kiwisolver==1.1.0         # via matplotlib
+    # via matplotlib
-matplotlib==3.2.0         # via odrive
+decorator==4.4.2
-monotonic==1.5            # via odrive
+    # via
-numpy==1.18.1             # via matplotlib
+    #   ipython
-odrive==0.4.11            # via -r requirements.in
+    #   traitlets
-parso==0.6.2              # via jedi
+idna==2.9
-pexpect==4.8.0            # via ipython
+    # via requests
-pickleshare==0.7.5        # via ipython
+intelhex==2.2.1
-prompt-toolkit==3.0.4     # via ipython
+    # via odrive
-ptyprocess==0.6.0         # via pexpect
+ipython==7.13.0
-pygments==2.6.1           # via ipython
+    # via odrive
-pyparsing==2.4.6          # via matplotlib
+ipython-genutils==0.2.0
-pyserial==3.4             # via odrive
+    # via traitlets
-python-dateutil==2.8.1    # via matplotlib
+jedi==0.16.0
-pyusb==1.0.2              # via odrive
+    # via ipython
-requests==2.23.0          # via odrive
+kiwisolver==1.1.0
-six==1.14.0               # via cycler, python-dateutil, traitlets
+    # via matplotlib
-traitlets==4.3.3          # via ipython
+matplotlib==3.2.0
-urllib3==1.25.8           # via requests
+    # via odrive
-wcwidth==0.1.8            # via prompt-toolkit
+monotonic==1.5
+    # via odrive
+numpy==1.18.1
+    # via matplotlib
+odrive==0.4.11
+    # via -r requirements.in
+parso==0.6.2
+    # via jedi
+pexpect==4.8.0
+    # via ipython
+pickleshare==0.7.5
+    # via ipython
+prompt-toolkit==3.0.4
+    # via ipython
+ptyprocess==0.6.0
+    # via pexpect
+pygments==2.6.1
+    # via ipython
+pyparsing==2.4.6
+    # via matplotlib
+pyserial==3.4
+    # via odrive
+python-dateutil==2.8.1
+    # via matplotlib
+pyusb==1.0.2
+    # via odrive
+pyyaml==5.4.1
+    # via -r requirements.in
+requests==2.23.0
+    # via odrive
+six==1.14.0
+    # via
+    #   cycler
+    #   python-dateutil
+    #   traitlets
+traitlets==4.3.3
+    # via ipython
+urllib3==1.25.8
+    # via requests
+wcwidth==0.1.8
+    # via prompt-toolkit
 
 # The following packages are considered to be unsafe in a requirements file:
 # setuptools