ODrive Module

ODrive is a high-performance servo motor drive module launched by M5Stack, based on the open source motion control solution ODrive.

Support the following products:

Micropython Example:

import os, sys, io
import M5
from M5 import *
from module import ODriveModule
drive = ODriveModule(port=(13,5))
drive.get_vbus_voltage()
drive.set_velocity(10)
drive.set_current(5)
drive.set_control_mode(ODriveModule.CONTROL_MODE_POSITION_CONTROL)
drive.set_position(1000)

UIFLOW2 Example:

core_odrive_example.m5f2

class ODriveModule

Constructors

class ODriveModule(id, port)

Initialize the ODriveModule.

Parameters:

id (int)
port

UIFLOW2:

Methods

ODriveModule.set_position(position, velocity_feedforward, current_feedforward)

Set the target position with optional feedforward values.

Parameters:

position – The target position in counts or radians, depending on the configuration.
velocity_feedforward (float) – The feedforward velocity in counts/s or radians/s to assist the controller.
current_feedforward (float) – The feedforward current in amperes to assist the controller.

UIFLOW2:

ODriveModule.set_velocity(velocity, current_feedforward)

Set the target velocity with optional current feedforward.

Parameters:

velocity – The target velocity in counts/s or radians/s.
current_feedforward (float) – The feedforward current in amperes to assist the controller.

UIFLOW2:

ODriveModule.set_current(current)

Set the target current.

Parameters:: current – The target current in amperes for torque control.

UIFLOW2:

ODriveModule.set_gain(pos_gain, vel_gain, vel_integrator_gain)

Parameters:

pos_gain
vel_gain
vel_integrator_gain

UIFLOW2:

ODriveModule.set_control_mode(mode)

Set the control mode of the controller.

Parameters:: mode – The control mode.

UIFLOW2:

ODriveModule.set_control_input_pos(pos)

Set the control input position for the controller.

Parameters:: pos – The desired input position in counts or radians for position control.

UIFLOW2:

ODriveModule.trapezoidal_move(position)

Perform a trapezoidal move to the given position.

Parameters:: position – The target position in counts or radians to move to using a trapezoidal velocity profile.

UIFLOW2:

ODriveModule.run_state(requested_state, timeout)

Run the axis to the requested state within a timeout period.

Parameters:

requested_state – The desired axis state to transition to, using the AXIS_STATE_* constants.
timeout – Timeout in milliseconds to wait for the axis to reach the requested state.

UIFLOW2:

ODriveModule.get_velocity()

Get the estimated velocity of the motor.

Return (float):: The estimated velocity in counts/s or radians/s.

UIFLOW2:

ODriveModule.get_vbus_voltage()

Get the measured bus voltage.

Return (float):: The bus voltage in volts.

UIFLOW2:

ODriveModule.get_phase_current()

Get the measured phase current of the motor.

Return (float):: The phase current in amperes.

UIFLOW2:

ODriveModule.get_bus_current()

Get the bus current drawn by the motor.

Return (float):: The bus current in amperes.

UIFLOW2:

ODriveModule.get_encoder_shadow_count()

Get the encoder's shadow count, which is an internal counter.

Return (int):: The shadow count as an integer value.

UIFLOW2:

ODriveModule.get_encoder_pos_estimate()

Get the estimated position from the encoder.

Return (float):: The estimated position in counts or radians.

UIFLOW2:

ODriveModule.get_motor_temp()

Get the temperature of the motor thermistor.

Return (float):: The motor temperature in degrees Celsius.

UIFLOW2:

ODriveModule.erase_config()

Erase the current configuration settings.

UIFLOW2:

ODriveModule.save_config()

Save the current configuration to non-volatile memory.

UIFLOW2:

ODriveModule.reboot()

Reboot the ODrive device.

UIFLOW2:

ODriveModule.set_default_config()

Set the default configuration parameters.

UIFLOW2:

ODriveModule.check_error()

Check for any errors in the system components.

UIFLOW2:

ODriveModule.read_flush()

Flush the UART read buffer to clear any residual data.

UIFLOW2:

ODriveModule.read_string()

Read a string terminated by a newline character from the device.

Return (str):: The string read from the device, excluding the newline character.

UIFLOW2:

ODriveModule.read_float()

Read a floating-point value from the device.

Return (float):: The float value read from the device; returns 0.0 if parsing fails.

UIFLOW2:

ODriveModule.read_int()

Read an integer value from the device.

Return (int):: The integer value read from the device; returns 0 if parsing fails.

UIFLOW2:

ODriveModule.write_to_device(data)

Write a command string to the device via UART.

Parameters:: data – The command string to send to the device, ending with a newline character.

UIFLOW2:

ODriveModule.write_config(config, value)

Write a configuration parameter to the device.

Parameters:

config – The configuration key as a string, e.g., 'axis0.controller.config.pos_gain'.
value – The value to set for the configuration parameter; can be a float or integer.

UIFLOW2:

ODriveModule.read_config_int(config)

Read an integer configuration parameter from the device.

Return (int):: The integer value of the specified configuration parameter; returns 0 if parsing fails.
Parameters:: config – The configuration key as a string, e.g., 'axis0.encoder.error'.

UIFLOW2:

ODriveModule.read_config_float(config)

Read a floating-point configuration parameter from the device.

Return (float):: The float value of the specified configuration parameter; returns 0.0 if parsing fails.
Parameters:: config – The configuration key as a string, e.g., 'axis0.motor_thermistor.temperature'.

UIFLOW2:

Constants

ODriveModule.AXIS_STATE_UNDEFINED

ODriveModule.AXIS_STATE_IDLE

ODriveModule.AXIS_STATE_STARTUP_SEQUENCE

ODriveModule.AXIS_STATE_FULL_CALIBRATION_SEQUENCE

ODriveModule.AXIS_STATE_MOTOR_CALIBRATION

ODriveModule.AXIS_STATE_SENSORLESS_CONTROL

ODriveModule.AXIS_STATE_ENCODER_INDEX_SEARCH

ODriveModule.AXIS_STATE_ENCODER_OFFSET_CALIBRATION

ODriveModule.AXIS_STATE_CLOSED_LOOP_CONTROL: Axis states

ODriveModule.CONTROL_MODE_VOLTAGE_CONTROL

ODriveModule.CONTROL_MODE_TORQUE_CONTROL

ODriveModule.CONTROL_MODE_VELOCITY_CONTROL

ODriveModule.CONTROL_MODE_POSITION_CONTROL: Control modes