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ODrive

Toplevel interface of your ODrive.

The odrv0, odrv1, … objects that appear in odrivetool implement this toplevel interface.

Attributes

vbus_voltage  —  float32    readonly

Voltage on the DC bus as measured by the ODrive.

Unit: V

ibus  —  float32    readonly

Current on the DC bus as calculated by the ODrive.

Unit: A

A positive value means that the ODrive is consuming power from the power supply, a negative value means that the ODrive is sourcing power to the power supply.

This value is equal to the sum of the motor currents and the brake resistor currents. The motor currents are measured, the brake resistor current is calculated based on config.brake_resistance.

ibus_report_filter_k  —  float32    readwrite

Filter gain for the reported ibus. Set to a value below 1.0 to get a smoother line when plotting ibus. Set to 1.0 to disable. This filter is only applied to the reported value and not for internal calculations.

serial_number  —  uint64    readonly

No description

hw_version_major  —  uint8    readonly

No description

hw_version_minor  —  uint8    readonly

No description

hw_version_variant  —  uint8    readonly

No description

fw_version_major  —  uint8    readonly

No description

fw_version_minor  —  uint8    readonly

No description

fw_version_revision  —  uint8    readonly

No description

fw_version_unreleased  —  uint8    readonly

0 for official releases, 1 otherwise

brake_resistor_armed  —  bool    readonly

No description

brake_resistor_saturated  —  bool    readwrite

No description

system_stats  —  SystemStats

No description

config  —  Config

No description

user_config_loaded  —  bool    readonly

No description

axis0  —  Axis

No description

axis1  —  Axis

No description

can  —  Can

No description

test_property  —  uint32    readwrite

No description

Functions

test_function(delta: int32)  ➔  cnt: int32

No description

Inputs:

• delta:  No description

Outputs:

• cnt:  No description

get_oscilloscope_val(index: uint32)  ➔  val: float32

No description

Inputs:

• index:  No description

Outputs:

• val:  No description

get_adc_voltage(gpio: uint32)  ➔  voltage: float32

No description

Inputs:

• gpio:  No description

Outputs:

• voltage:  No description

save_configuration()

No description

erase_configuration()

No description

reboot()

No description

enter_dfu_mode()

No description