odrive 0.6.9.dev0__py37-none-win_amd64.whl

odrive/version.py

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+__version__ = '0.6.9.dev0'

odrive-0.6.9.dev0.data/scripts/odrive_demo.py

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+#!python
+"""
+Example usage of the ODrive python library to monitor and control ODrive devices
+"""
+
+from __future__ import print_function
+
+import odrive
+from odrive.enums import *
+import time
+import math
+
+# Find a connected ODrive (this will block until you connect one)
+print("finding an odrive...")
+my_drive = odrive.find_any()
+
+# Calibrate motor and wait for it to finish
+print("starting calibration...")
+my_drive.axis0.requested_state = AxisState.FULL_CALIBRATION_SEQUENCE
+while AxisState(my_drive.axis0.current_state) != AxisState.IDLE:
+    time.sleep(0.1)
+
+my_drive.axis0.requested_state = AxisState.CLOSED_LOOP_CONTROL
+
+# To read a value, simply read the property
+print("Bus voltage is " + str(my_drive.vbus_voltage) + "V")
+
+# Or to change a value, just assign to the property
+my_drive.axis0.controller.pos_setpoint = 3.14
+print("Position setpoint is " + str(my_drive.axis0.controller.pos_setpoint))
+
+# And this is how function calls are done:
+for i in [1,2,3,4]:
+    print('voltage on GPIO{} is {} Volt'.format(i, my_drive.get_adc_voltage(i)))
+
+# A sine wave to test
+t0 = time.monotonic()
+while True:
+    setpoint = 4.0 * math.sin((time.monotonic() - t0)*2)
+    print("goto " + str(int(setpoint)))
+    my_drive.axis0.controller.pos_setpoint = setpoint
+    time.sleep(0.01)
+
+# Some more things you can try:
+
+# Write to a read-only property:
+my_drive.vbus_voltage = 11.0  # fails with `AttributeError: can't set attribute`
+
+# Assign an incompatible value:
+my_drive.motor0.pos_setpoint = "I like trains"  # fails with `ValueError: could not convert string to float`

odrive-0.6.9.dev0.data/scripts/odrivetool

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+#!python
+"""
+ODrive command line utility
+"""
+
+from __future__ import print_function
+import sys
+
+if sys.version_info < (3, 6):
+    print("Your Python version (Python {}.{}) is too old. Please install Python 3.6 or newer.".format(
+        sys.version_info.major, sys.version_info.minor
+    ))
+    exit(1)
+
+import asyncio
+import sys
+import os
+import argparse
+import tempfile
+import time
+import math
+import platform
+
+import odrive
+from odrive.utils import OperationAbortedException
+from fibre import Logger
+
+# Flush stdout by default
+# Source:
+# https://stackoverflow.com/questions/230751/how-to-flush-output-of-python-print
+old_print = print
+def print(*args, **kwargs):
+    kwargs.pop('flush', False)
+    old_print(*args, **kwargs)
+    file = kwargs.get('file', sys.stdout)
+    file.flush() if file is not None else sys.stdout.flush()
+
+script_path=os.path.dirname(os.path.realpath(__file__))
+
+## Parse arguments ##
+parser = argparse.ArgumentParser(description='ODrive command line utility\n'
+                                             'Running this tool without any arguments is equivalent to running `odrivetool shell`\n',
+                                 formatter_class=argparse.RawTextHelpFormatter)
+
+# Subcommands
+subparsers = parser.add_subparsers(help='sub-command help', dest='command')
+shell_parser = subparsers.add_parser('shell', help='Drop into an interactive python shell that lets you interact with the ODrive(s)')
+shell_parser.add_argument("--no-ipython", action="store_true",
+                          help="Use the regular Python shell "
+                          "instead of the IPython shell, "
+                          "even if IPython is installed.")
+
+# These two DFU commands are aliases except for the info message
+for command in ['new-dfu', 'dfu', 'legacy-dfu', 'install-bootloader']:
+    dfu_parser = subparsers.add_parser(command, help="Upgrade the ODrive device firmware."
+                                                "If no serial number is specified, the first ODrive that is found is updated")
+    dfu_parser.add_argument('file', nargs='?',
+                            help='The .elf file to be flashed. Make sure target board version '
+                            'of the firmware file matches the actual board version. '
+                            'You can download the latest release manually from '
+                            'https://github.com/odriverobotics/ODrive/releases. '
+                            'If no file is provided, the script automatically downloads '
+                            'the firmware from the internet.')
+    dfu_parser.add_argument('--channel', action='store',
+                            help='The release channel to download from. '
+                            'Mutually exclusive with --version. '
+                            'If no channel, no version and no firmware file is specified, '
+                            'the "master" channel is used. ')
+    dfu_parser.add_argument('--version', action='store',
+                            help='The version name to download. '
+                            'Mutually exclusive with --channel.')
+    if command != 'new-dfu': # Only valid for legacy-dfu
+        dfu_parser.add_argument('--no-erase-all', action='store_true',
+                                help='If specified, only those flash sectors occupied '
+                                'by the firmware will be erased. If not specified, all '
+                                'flash sectors (including non-volatile config) will be '
+                                'erased.')
+    else:
+        dfu_parser.add_argument('--erase-all', action='store_true',
+                                help='If specified, all flash sectors (including those '
+                                'containing non-volatile config) will be erased. '
+                                'If not specified, only those flash sectors occupied '
+                                'by the firmware will be erased.')
+
+unlock_parser = subparsers.add_parser('unlock', help="Try to remove read-out protection."
+                                               "If no serial number is specified, the first ODrive that is found is unlocked")
+
+backup_config_parser = subparsers.add_parser('backup-config', help="Saves the configuration of the ODrive to a JSON file")
+backup_config_parser.add_argument('file', nargs='?',
+                        help="Path to the file where to store the data. "
+                        "If no path is provided, the configuration is stored in {}.".format(tempfile.gettempdir()))
+
+restore_config_parser = subparsers.add_parser('restore-config', help="Restores the configuration of the ODrive from a JSON file")
+restore_config_parser.add_argument('file', nargs='?',
+                        help="Path to the file that contains the configuration data. "
+                        "If no path is provided, the configuration is loaded from {}.".format(tempfile.gettempdir()))
+
+subparsers.add_parser('liveplotter', help="For plotting of odrive parameters (i.e. position) in real time")
+subparsers.add_parser('rate-test', help="Estimate the average transmission bandwidth over USB")
+
+# General arguments
+parser.add_argument("-p", "--path", metavar="PATH", action="store",
+                    help="The path(s) where ODrive(s) should be discovered.\n"
+                    "By default the script will connect to any ODrive on USB.\n\n"
+                    "To select a specific USB device:\n"
+                    "  --path usb:BUS:DEVICE\n"
+                    "usbwhere BUS and DEVICE are the bus and device numbers as shown in `lsusb`.\n\n"
+                    "To select a specific serial port:\n"
+                    "  --path serial:PATH\n"
+                    "where PATH is the path of the serial port. For example \"/dev/ttyUSB0\".\n"
+                    "You can use `ls /dev/tty*` to find the correct port.\n\n"
+                    "You can combine USB and serial specs by separating them with a comma (no space!)\n"
+                    "Example:\n"
+                    "  --path usb,serial:/dev/ttyUSB0\n"
+                    "means \"discover any USB device or a serial device on /dev/ttyUSB0\"")
+parser.add_argument("-s", "--serial-number", action="store",
+                    help="The 12-digit serial number of the device. "
+                         "This is a string consisting of 12 upper case hexadecimal "
+                         "digits as displayed in lsusb. \n"
+                         "    example: 385F324D3037\n"
+                         "You can list all devices connected to USB by running\n"
+                         "(lsusb -d 1209:0d32 -v; lsusb -d 0483:df11 -v) | grep iSerial\n"
+                         "If omitted, any device is accepted.")
+parser.add_argument("-v", "--verbose", action="store_true",
+                    help="print debug information")
+parser.add_argument("--version", action="store_true",
+                    help="print version information and exit")
+
+parser.set_defaults(path="usb:idVendor=0x1209,idProduct=0x0D32,bInterfaceClass=0,bInterfaceSubClass=1,bInterfaceProtocol=0")
+args = parser.parse_args()
+
+# Default command
+if args.command is None:
+    args.command = 'shell'
+    args.no_ipython = False
+
+logger = Logger(verbose=args.verbose)
+
+def print_version():
+    sys.stderr.write("ODrive control utility v" + odrive.__version__ + "\n")
+    sys.stderr.flush()
+
+if platform.system() == 'Linux':
+    if not os.path.isfile('/etc/udev/rules.d/91-odrive.rules'):
+        logger.warn(
+            "Device permissions are not set up. Please exit odrivetool and run the following command: \n"
+            "sudo bash -c \"curl https://cdn.odriverobotics.com/files/odrive-udev-rules.rules > /etc/udev/rules.d/91-odrive.rules && udevadm control --reload-rules && udevadm trigger\"\n"
+            "otherwise your ODrive may not be recognized.")
+
+try:
+    if args.version == True:
+        print_version()
+
+    elif args.command == 'shell':
+        print_version()
+        if ".dev" in odrive.__version__:
+            print("")
+            logger.warn("Developer Preview")
+            print("  If you find issues, please report them")
+            print("  on https://github.com/odriverobotics/ODrive/issues")
+            print("  or better yet, submit a pull request to fix it.")
+            print("")
+        import odrive.shell
+        odrive.shell.launch_shell(args, logger)
+
+    elif args.command == 'new-dfu':
+        print_version()
+
+        import odrive.dfu
+        try:
+            if sum([bool(args.file), bool(args.channel), bool(args.version)]) > 1:
+                raise odrive.dfu.DfuError("Only one of firmware-file, --channel or --version must be specified.")
+            elif sum([bool(args.file), bool(args.channel), bool(args.version)]) == 0:
+                args.channel = 'master'
+
+            asyncio.run(odrive.dfu.dfu_ui(
+                serial_number=args.serial_number,
+                path=args.file,
+                channel=args.channel,
+                version=args.version,
+                erase_all=args.erase_all,
+                logger=logger))
+        except odrive.dfu.DfuError as ex:
+            logger.error(str(ex))
+            sys.exit(1)
+
+    elif args.command == 'dfu' or args.command == 'legacy-dfu' or args.command == 'install-bootloader':
+        print_version()
+
+        if args.command == 'dfu':
+            logger.warn("Try our new firmware update system!")
+            logger.warn("Supports firmware updates from the Web GUI and firmware updates via CAN bus.")
+            logger.warn("More info and migration instructions here: https://docs.odriverobotics.com/v/latest/guides/new-dfu.html.")
+
+        import odrive.legacy_dfu
+        try:
+            if 'win32' in sys.platform:
+                # needed for subprocess support
+                # https://docs.python.org/3/library/asyncio-platforms.html#asyncio-windows-subprocess
+                asyncio.set_event_loop_policy(asyncio.WindowsProactorEventLoopPolicy())
+
+            if sum([bool(args.file), bool(args.channel), bool(args.version)]) > 1:
+                raise odrive.dfu.DfuError("Only one of firmware-file, --channel or --version must be specified.")
+            elif sum([bool(args.file), bool(args.channel), bool(args.version)]) == 0:
+                args.channel = 'master'
+
+            asyncio.run(odrive.legacy_dfu.launch_dfu(
+                serial_number=args.serial_number,
+                path=args.file,
+                channel=args.channel,
+                version=args.version,
+                erase_all=not args.no_erase_all,
+                logger=logger,
+                installing_bootloader=args.command == 'install-bootloader',
+                release_type='bootloader' if args.command == 'install-bootloader' else 'firmware'))
+        except odrive.legacy_dfu.DfuError as ex:
+            logger.error(str(ex))
+            sys.exit(1)
+
+    elif args.command == 'unlock':
+        print_version()
+        import odrive.dfu
+        odrive.dfu.unlock_device(args.serial_number, None)
+
+    elif args.command == 'liveplotter':
+        from odrive.utils import start_liveplotter
+        print("Waiting for ODrive...")
+        my_odrive = odrive.find_any(path=args.path, serial_number=args.serial_number)
+
+        # If you want to plot different values, change them here.
+        # You can plot any number of values concurrently.
+        cancellation_token = start_liveplotter(lambda: [
+            my_odrive.axis0.encoder.pos_estimate,
+            my_odrive.axis1.encoder.pos_estimate,
+        ])
+
+        print("Showing plot. Press Ctrl+C to exit.")
+        while not cancellation_token.is_set():
+            time.sleep(1)
+
+    elif args.command == 'rate-test':
+        from odrive.utils import rate_test
+        print("Waiting for ODrive...")
+        my_odrive = odrive.find_any(path=args.path, serial_number=args.serial_number)
+        rate_test(my_odrive)
+
+    elif args.command == 'backup-config':
+        from odrive.legacy_config import backup_config_ui
+        print("Waiting for ODrive...")
+        my_odrive = odrive.find_any(path=args.path, serial_number=args.serial_number)
+        backup_config_ui(my_odrive, args.file, logger)
+
+    elif args.command == 'restore-config':
+        from odrive.legacy_config import restore_config_ui
+        print("Waiting for ODrive...")
+        my_odrive = odrive.find_any(path=args.path, serial_number=args.serial_number)
+        restore_config_ui(my_odrive, args.file, logger)
+
+    else:
+        raise Exception("unknown command: " + args.command)
+
+except OperationAbortedException:
+    logger.info("Operation aborted.")

odrive-0.6.9.dev0.data/scripts/odrivetool.bat

@@ -0,0 +1,2 @@
+@echo off
+ipython "%~dp0\odrivetool" -- %*

odrive-0.6.9.dev0.dist-info/METADATA

@@ -0,0 +1,22 @@
+Metadata-Version: 2.1
+Name: odrive
+Version: 0.6.9.dev0
+Summary: Control utilities for the ODrive high performance motor controller
+Home-page: https://odriverobotics.com/
+Author: ODrive Robotics Inc
+Author-email: info@odriverobotics.com
+License: MIT
+Keywords: odrive,motor,motor control,servo
+Platform: UNKNOWN
+Requires-Dist: PyUSB
+Requires-Dist: aiohttp
+Requires-Dist: appdirs
+Requires-Dist: ipython
+Requires-Dist: pyelftools
+Requires-Dist: setuptools
+Requires-Dist: pywin32 (>=222) ; platform_system == "Windows"
+Provides-Extra: liveplotter
+Requires-Dist: matplotlib ; extra == 'liveplotter'
+
+UNKNOWN
+

odrive-0.6.9.dev0.dist-info/RECORD

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+odrive-0.6.9.dev0.dist-info/WHEEL,sha256=KiPL0PI64mGLY_MHX7c-grPOEh7bS2zxdBak-i5y7xE,99
+odrive-0.6.9.dev0.dist-info/top_level.txt,sha256=M46r8k9EGZCfhy0EIMcBrK7-Xmpb4WjOs7ei3HVOaBk,7
+odrive-0.6.9.dev0.dist-info/RECORD,,

odrive-0.6.9.dev0.dist-info/WHEEL

@@ -0,0 +1,5 @@
+Wheel-Version: 1.0
+Generator: bdist_wheel (0.37.1)
+Root-Is-Purelib: true
+Tag: py37-none-win_amd64
+

odrive-0.6.9.dev0.dist-info/top_level.txt

@@ -0,0 +1 @@
+odrive