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October 3, 2021 04:55
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| #================================= | |
| #====== print(odrv0) ============= | |
| #================================= | |
| axis0: | |
| clear_errors(obj: object_ref) | |
| config: ... | |
| controller: ... | |
| current_state: 1 (int32) | |
| encoder: ... | |
| error: 257 (int32) | |
| fet_thermistor: ... | |
| is_homed: False (bool) | |
| lockin_state: 0 (int32) | |
| loop_counter: 8932298 (uint32) | |
| max_endstop: ... | |
| min_endstop: ... | |
| motor: ... | |
| motor_thermistor: ... | |
| requested_state: 0 (int32) | |
| sensorless_estimator: ... | |
| step_dir_active: False (bool) | |
| trap_traj: ... | |
| watchdog_feed(obj: object_ref) | |
| axis1: | |
| clear_errors(obj: object_ref) | |
| config: ... | |
| controller: ... | |
| current_state: 1 (int32) | |
| encoder: ... | |
| error: 0 (int32) | |
| fet_thermistor: ... | |
| is_homed: False (bool) | |
| lockin_state: 0 (int32) | |
| loop_counter: 8932359 (uint32) | |
| max_endstop: ... | |
| min_endstop: ... | |
| motor: ... | |
| motor_thermistor: ... | |
| requested_state: 0 (int32) | |
| sensorless_estimator: ... | |
| step_dir_active: False (bool) | |
| trap_traj: ... | |
| watchdog_feed(obj: object_ref) | |
| brake_resistor_armed: True (bool) | |
| brake_resistor_saturated: False (bool) | |
| can: | |
| config: ... | |
| error: 0 (int32) | |
| set_baud_rate(obj: object_ref, baudRate: uint32) | |
| config: | |
| brake_resistance: 0.4699999988079071 (float) | |
| dc_bus_overvoltage_ramp_end: 25.68000030517578 (float) | |
| dc_bus_overvoltage_ramp_start: 25.68000030517578 (float) | |
| dc_bus_overvoltage_trip_level: 25.68000030517578 (float) | |
| dc_bus_undervoltage_trip_level: 8.0 (float) | |
| dc_max_negative_current: -9.999999974752427e-07 (float) | |
| dc_max_positive_current: inf (float) | |
| enable_ascii_protocol_on_usb: True (bool) | |
| enable_dc_bus_overvoltage_ramp: False (bool) | |
| enable_i2c_instead_of_can: False (bool) | |
| enable_uart: True (bool) | |
| gpio1_pwm_mapping: ... | |
| gpio2_pwm_mapping: ... | |
| gpio3_analog_mapping: ... | |
| gpio3_pwm_mapping: ... | |
| gpio4_analog_mapping: ... | |
| gpio4_pwm_mapping: ... | |
| max_regen_current: 0.0 (float) | |
| uart_baudrate: 115200 (uint32) | |
| enter_dfu_mode(obj: object_ref) | |
| erase_configuration(obj: object_ref) | |
| fw_version_major: 0 (uint8) | |
| fw_version_minor: 5 (uint8) | |
| fw_version_revision: 1 (uint8) | |
| fw_version_unreleased: 0 (uint8) | |
| get_adc_voltage(obj: object_ref, gpio: uint32) -> voltage: float | |
| get_oscilloscope_val(obj: object_ref, index: uint32) -> val: float | |
| hw_version_major: 3 (uint8) | |
| hw_version_minor: 6 (uint8) | |
| hw_version_variant: 24 (uint8) | |
| ibus: 0.0 (float) | |
| ibus_report_filter_k: 1.0 (float) | |
| reboot(obj: object_ref) | |
| save_configuration(obj: object_ref) | |
| serial_number: 35649110890312 (uint64) | |
| system_stats: | |
| i2c: ... | |
| min_heap_space: 41560 (uint32) | |
| min_stack_space_axis0: 1628 (uint32) | |
| min_stack_space_axis1: 1692 (uint32) | |
| min_stack_space_can: 804 (uint32) | |
| min_stack_space_comms: 3864 (uint32) | |
| min_stack_space_startup: 1700 (uint32) | |
| min_stack_space_uart: 3924 (uint32) | |
| min_stack_space_usb: 2752 (uint32) | |
| min_stack_space_usb_irq: 1796 (uint32) | |
| stack_usage_axis0: 420 (uint32) | |
| stack_usage_axis1: 356 (uint32) | |
| stack_usage_can: 220 (uint32) | |
| stack_usage_comms: 232 (uint32) | |
| stack_usage_startup: 348 (uint32) | |
| stack_usage_uart: 172 (uint32) | |
| stack_usage_usb: 1344 (uint32) | |
| stack_usage_usb_irq: 252 (uint32) | |
| uptime: 1118165 (uint32) | |
| usb: ... | |
| test_function(obj: object_ref, delta: int32) -> cnt: int32 | |
| test_property: 0 (uint32) | |
| user_config_loaded: True (bool) | |
| vbus_voltage: 20.9150390625 (float) | |
| #============================ | |
| #====print(odrv0.axis0.config) | |
| #============================ | |
| calibration_lockin: | |
| accel: 20.0 (float) | |
| current: 10.0 (float) | |
| ramp_distance: 3.1415927410125732 (float) | |
| ramp_time: 0.4000000059604645 (float) | |
| vel: 40.0 (float) | |
| can_heartbeat_rate_ms: 100 (uint32) | |
| can_node_id: 0 (uint32) | |
| can_node_id_extended: False (bool) | |
| dir_gpio_pin: 2 (uint16) | |
| enable_step_dir: False (bool) | |
| enable_watchdog: False (bool) | |
| general_lockin: | |
| accel: 20.0 (float) | |
| current: 10.0 (float) | |
| finish_distance: 100.0 (float) | |
| finish_on_distance: False (bool) | |
| finish_on_enc_idx: False (bool) | |
| finish_on_vel: False (bool) | |
| ramp_distance: 3.1415927410125732 (float) | |
| ramp_time: 0.4000000059604645 (float) | |
| vel: 40.0 (float) | |
| sensorless_ramp: | |
| accel: 200.0 (float) | |
| current: 10.0 (float) | |
| finish_distance: 100.0 (float) | |
| finish_on_distance: False (bool) | |
| finish_on_enc_idx: False (bool) | |
| finish_on_vel: True (bool) | |
| ramp_distance: 3.1415927410125732 (float) | |
| ramp_time: 0.4000000059604645 (float) | |
| vel: 400.0 (float) | |
| startup_closed_loop_control: False (bool) | |
| startup_encoder_index_search: False (bool) | |
| startup_encoder_offset_calibration: False (bool) | |
| startup_homing: False (bool) | |
| startup_motor_calibration: False (bool) | |
| startup_sensorless_control: False (bool) | |
| step_dir_always_on: False (bool) | |
| step_gpio_pin: 1 (uint16) | |
| turns_per_step: 0.0009765625 (float) | |
| watchdog_timeout: 0.0 (float) | |
| #=========================== | |
| #===== print(odrv0.axis0.encoder) | |
| #============================== | |
| calib_scan_response: 0.0 (float) | |
| config: | |
| abs_spi_cs_gpio_pin: 3 (uint16) | |
| bandwidth: 1000.0 (float) | |
| calib_range: 0.019999999552965164 (float) | |
| calib_scan_distance: 50.26548385620117 (float) | |
| calib_scan_omega: 12.566370964050293 (float) | |
| cpr: 16384 (int32) | |
| enable_phase_interpolation: True (bool) | |
| find_idx_on_lockin_only: False (bool) | |
| idx_search_unidirectional: False (bool) | |
| ignore_illegal_hall_state: False (bool) | |
| mode: 257 (int32) | |
| offset: 0 (int32) | |
| offset_float: 0.0 (float) | |
| pre_calibrated: False (bool) | |
| sincos_gpio_pin_cos: 4 (uint16) | |
| sincos_gpio_pin_sin: 3 (uint16) | |
| use_index: False (bool) | |
| zero_count_on_find_idx: True (bool) | |
| count_in_cpr: 1671 (int32) | |
| error: 4 (int32) | |
| hall_state: 7 (uint8) | |
| index_found: False (bool) | |
| interpolation: 0.0 (float) | |
| is_ready: False (bool) | |
| phase: 0.7595126628875732 (float) | |
| pos_abs: 1671 (int32) | |
| pos_circular: 0.10202598571777344 (float) | |
| pos_cpr: 0.10208415985107422 (float) | |
| pos_cpr_counts: 1671.3125 (float) | |
| pos_estimate: 0.10204219818115234 (float) | |
| pos_estimate_counts: 1670.9375 (float) | |
| set_linear_count(obj: object_ref, count: int32) | |
| shadow_count: 1672 (int32) | |
| spi_error_rate: 0.0 (float) | |
| vel_estimate: 0.01525879092514515 (float) | |
| vel_estimate_counts: -375.0000305175781 (float) | |
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