ODriveCan

ODrive Can Python Package.

Examples

One ODrive:

one_drive.py

import pyodrivecan
import asyncio

async def controller(odrive):
        odrive.set_torque(0.1)  #Set torque to 0.1 Nm 
        await asyncio.sleep(15) # Need this line in order for the async functions to work. 
        odrive.set_torque(0)    # Set torque to 0 Nm

        # Set running flag to False to stop collecting and storing O-Drive to database.
        odrive.running = False  


if __name__ == "__main__":
    # Create ODriveCAN object with a node_id = 0 
    odrive = pyodrivecan.ODriveCAN(0)

    # Initialize the odrive object 
    odrive.initCanBus()

    #Set O-Drive to torque control
    odrive.set_controller_mode("torque_control")

    # This will use the run method to pass in the async controller function
    #and automatically run the odrive 
    odrive.run(controller(odrive))

Result

A video might be good to add here.

   

Two ODrives:

import pyodrivecan
import asyncio
from datetime import datetime, timedelta


#Functions to clamp a variables upper and lower limit.        
def clamp(x, lower, upper):
    return lower if x < lower else upper if x > upper else x


#Example of how you can create a controller to get data from the O-Drives and then send motor comands based on that data.
async def controller(odrive1, odrive2):
        #Set both O-Drives Torque to 0 Nm
        odrive1.set_torque(0) 
        odrive2.set_torque(0)

        #Run for set time delay example runs for 15 seconds.
        stop_at = datetime.now() + timedelta(seconds=15)
        while datetime.now() < stop_at:
            await asyncio.sleep(0) #Need this for async to work.

            x1 = await odrive1.get_velocity() - 9.5 
            #print(x1)
            clamp(x1, 0, 0.1) #Currently my motor is limited to 0 - 0.1 Nm
            odrive1.set_torque(x1)

            x2 = await odrive2.get_velocity() - 9.5
            #print(x2)
            clamp(x2, 0, 0.1) #Currently my motor is limited to 0 - 0.1 Nm
            odrive2.set_torque(x2)
            print(x1, x2)

        # Set both O-Drives Torque to 0 Nm
        odrive1.set_torque(0) 
        odrive2.set_torque(0)

        # Set running flag to False to stop collecting and storing O-Drive to database.
        odrive1.running = False
        odrive2.running = False



# Run multiple O-Drives Instances:
async def main():
    #Set up Node_ID 0
    odrive1 = pyodrivecan.ODriveCAN(0)
    odrive1.initCanBus()

    #Set up Node_ID 1 
    odrive2 = pyodrivecan.ODriveCAN(1)
    odrive2.initCanBus()

    #Set up Node_ID 2 
    #odrive3 = ODriveCAN(2)
    #odrive3.initCanBus()

    #Add each odrive to the async loop so they each will collect and store O-Drive data into the database concurrently.
    #Add the defined async controller function to also run concurrently with both odrive loops. 
    await asyncio.gather(
        odrive1.loop(),
        odrive2.loop(),
        #odrive3.loop(),
        controller(odrive1, odrive2) 
    )



if __name__ == "__main__":
    asyncio.run(main())

Result

A video might be good to add here.