High performance motor control
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Toplevel interface of your ODrive.
The odrv0, odrv1, … objects that appear in odrivetool implement this toplevel interface.
vbus_voltage
— float32
readonly
Voltage on the DC bus as measured by the ODrive.
Unit: V
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
test_function(delta: int32)
➔ cnt: int32
No description
Inputs:
delta
: No descriptionOutputs:
cnt
: No descriptionget_oscilloscope_val(index: uint32)
➔ val: float32
No description
Inputs:
index
: No descriptionOutputs:
val
: No descriptionget_adc_voltage(gpio: uint32)
➔ voltage: float32
No description
Inputs:
gpio
: No descriptionOutputs:
voltage
: No descriptionNo description
No description
No description
No description