odrive

odrv = odrv0
odrv.config.dc_bus_overvoltage_trip_level = 35
odrv.config.dc_max_positive_current = 5
odrv.config.dc_max_negative_current = -2
odrv.axis0.config.motor.motor_type = MotorType.HIGH_CURRENT
odrv.axis0.config.motor.torque_constant = 0.516875
odrv.axis0.config.motor.pole_pairs = 20
odrv.axis0.config.motor.current_soft_max = 5
odrv.axis0.config.motor.current_hard_max = 9
odrv.axis0.config.motor.calibration_current = 4
odrv.axis0.config.motor.resistance_calib_max_voltage = 30
odrv.axis0.config.calibration_lockin.current = 4
odrv.axis0.controller.config.input_mode = InputMode.PASSTHROUGH
odrv.axis0.controller.config.control_mode = ControlMode.TORQUE_CONTROL
odrv.axis0.config.torque_soft_min = -1
odrv.axis0.config.torque_soft_max = 1
odrv.axis0.config.enable_watchdog = True
odrv.axis0.config.watchdog_timeout = 1
odrv.axis0.config.encoder_bandwidth = 100
odrv.hall_encoder0.config.enabled = True
odrv.axis0.config.load_encoder = EncoderId.HALL_ENCODER0
odrv.axis0.config.commutation_encoder = EncoderId.HALL_ENCODER0