The docs reflect firmware version 0.5.1. There are many breaking changes. Please find docs for v0.4.12 here.

ODrive Documentation

High performance motor control

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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

ibus  —  float32    readonly

ibus_report_filter_k  —  float32    readwrite

serial_number  —  uint64    readonly

hw_version_major  —  uint8    readonly

hw_version_minor  —  uint8    readonly

hw_version_variant  —  uint8    readonly

fw_version_major  —  uint8    readonly

fw_version_minor  —  uint8    readonly

fw_version_revision  —  uint8    readonly

fw_version_unreleased  —  uint8    readonly

brake_resistor_armed  —  bool    readonly

brake_resistor_saturated  —  bool    readwrite

system_stats  —  SystemStats

config  —  Config

user_config_loaded  —  bool    readonly

axis0  —  Axis

axis1  —  Axis

can  —  Can

test_property  —  uint32    readwrite

Functions

test_function(delta: int32)  ➔  cnt: int32

get_oscilloscope_val(index: uint32)  ➔  val: float32

get_adc_voltage(gpio: uint32)  ➔  voltage: float32

save_configuration()

erase_configuration()

reboot()

enter_dfu_mode()