odrive入门教程(securecrt使用教程串口)

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发布于 2022-07-31 09:15:25

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代码可运行

大家好，又见面了，我是你们的朋友全栈君。

ODrive 官方入门指南中，采用的是 USB 连接控制模式（中文翻译版本链接）使用的是 Native Protocol。当我们需要尝试串口通信实现时，需要专程 ASCII 协议来进行串口通信实现相关的命令，结合着入门指南以及 ODrive 中的相关属性方法参数，将流程中用到的相关方法整理如下：

import serial
import time

ted = serial.Serial(port='/dev/tty.wchusbserial1470', baudrate=115200)

ted.write("r vbus_voltage;ted's words\n".encode('ascii'))
vbus_voltage = float(ted.readline().decode('ascii'))
print("vbus_voltage:",vbus_voltage,type(vbus_voltage))

# Current limit
ted.write("r axis0.motor.config.current_lim\n".encode('ascii'))
axis0_motor_config_current_lim = float(ted.readline().decode('ascii'))
print("axis0.motor.config.current_lim:",axis0_motor_config_current_lim,type(axis0_motor_config_current_lim))

# Velocity limit
ted.write("r axis0.controller.config.vel_limit\n".encode('ascii'))
axis0_controller_config_vel_limit = float(ted.readline().decode('ascii'))
print("axis0.controller.config.vel_limit:",axis0_controller_config_vel_limit,type(axis0_controller_config_vel_limit))

# Calibration current
ted.write("r axis0.motor.config.calibration_current\n".encode('ascii'))
axis0_motor_config_calibration_current = float(ted.readline().decode('ascii'))
print("axis0.motor.config.calibration_current:",axis0_motor_config_calibration_current,type(axis0_motor_config_calibration_current))

# brake_resistance
ted.write("r config.brake_resistance\n".encode('ascii'))
config_brake_resistance = float(ted.readline().decode('ascii'))
print("config.brake_resistance:",config_brake_resistance,type(config_brake_resistance))

# pole_pairs
ted.write("r axis0.motor.config.pole_pairs\n".encode('ascii'))
axis0_motor_config_pole_pairs = int(ted.readline().decode('ascii'))
print("axis0.motor.config.pole_pairs:",axis0_motor_config_pole_pairs,type(axis0_motor_config_pole_pairs))

# motor_type
ted.write("r axis0.motor.config.motor_type\n".encode('ascii'))
axis0_motor_config_motor_type = int(ted.readline().decode('ascii'))
print("axis0.motor.config.motor_type:",axis0_motor_config_motor_type,type(axis0_motor_config_motor_type))

print("~"*20)
# cpr
ted.write("r axis0.encoder.config.cpr\n".encode('ascii'))
axis0_encoder_config_cpr = int(ted.readline().decode('ascii'))
print("axis0.encoder.config.cpr:",axis0_encoder_config_cpr,type(axis0_encoder_config_cpr))

ted.write("w axis0.encoder.config.cpr 4096\n".encode('ascii'))

ted.write("r axis0.encoder.config.cpr\n".encode('ascii'))
axis0_encoder_config_cpr2 = int(ted.readline().decode('ascii'))
print("axis0.encoder.config.cpr modified:",axis0_encoder_config_cpr2,type(axis0_encoder_config_cpr2))

print("~"*20)

# Save configuration
ted.write("ss\n".encode('ascii'))

# Position control
""" AXIS_STATE_UNDEFINED = 0 AXIS_STATE_IDLE = 1 AXIS_STATE_STARTUP_SEQUENCE = 2 AXIS_STATE_FULL_CALIBRATION_SEQUENCE = 3 AXIS_STATE_MOTOR_CALIBRATION = 4 AXIS_STATE_SENSORLESS_CONTROL = 5 AXIS_STATE_ENCODER_INDEX_SEARCH = 6 AXIS_STATE_ENCODER_OFFSET_CALIBRATION = 7 AXIS_STATE_CLOSED_LOOP_CONTROL = 8 AXIS_STATE_LOCKIN_SPIN = 9 AXIS_STATE_ENCODER_DIR_FIND = 10 """
ted.write("r axis0.current_state\n".encode('ascii'))
axis0_current_state = int(ted.readline().decode('ascii'))
print("axis0.current_state:",axis0_current_state,type(axis0_current_state))

# AXIS_STATE_FULL_CALIBRATION_SEQUENCE
ted.write("w axis0.requested_state 3\n".encode('ascii'))
print("校准电机...")
time.sleep(15)
ted.write("r axis0.current_state\n".encode('ascii'))
axis0_current_state2 = int(ted.readline().decode('ascii'))
print("axis0.current_state modified:",axis0_current_state2,type(axis0_current_state2))

# AXIS_STATE_CLOSED_LOOP_CONTROL
ted.write("w axis0.requested_state 8\n".encode('ascii'))

ted.write("r axis0.current_state\n".encode('ascii'))
axis0_current_state3 = int(ted.readline().decode('ascii'))
print("axis0.current_state modified again:",axis0_current_state3,type(axis0_current_state3))

ted.write("w axis0.controller.pos_setpoint 10000\n".encode('ascii'))