ODrive test script

import odrive
from odrive.enums import *
import numpy as np
import time
import pickle as pkl

odrv = odrive.find_any()

BUF_SIZE = 10_000
t_buf = np.zeros(BUF_SIZE)
effective_torque_setpoint_buf = np.zeros(BUF_SIZE)
vbus_buf = np.zeros(BUF_SIZE)
modq_buf = np.zeros(BUF_SIZE)
modd_buf = np.zeros(BUF_SIZE)
vq_buf = np.zeros(BUF_SIZE)
vd_buf = np.zeros(BUF_SIZE)
va_buf = np.zeros(BUF_SIZE)
vb_buf = np.zeros(BUF_SIZE)

n = 0

input("************ Press enter to start test. Warning - motor will activate!")

try:
    odrv.axis0.controller.config.input_mode = InputMode.PASSTHROUGH
    odrv.axis0.controller.config.control_mode = ControlMode.TORQUE_CONTROL
    odrv.axis0.requested_state = AxisState.CLOSED_LOOP_CONTROL

    odrv.axis0.controller.input_torque = 0.4

    t0 = time.monotonic()
    while ((odrv._obj_handle is not None) and (odrv.axis0.current_state == AxisState.CLOSED_LOOP_CONTROL) and (n < BUF_SIZE)):
        t_now = time.monotonic() - t0
        effective_torque_setpoint = odrv.axis0.controller.effective_torque_setpoint
        vbus = odrv.vbus_voltage
        mod_q = odrv.axis0.motor.foc.mod_q
        mod_d = odrv.axis0.motor.foc.mod_d
        v_q = odrv.axis0.motor.foc.Vq_setpoint
        v_d = odrv.axis0.motor.foc.Vd_setpoint
        v_a = odrv.axis0.motor.foc.final_v_alpha
        v_b = odrv.axis0.motor.foc.final_v_beta

        t_buf[n] = t_now
        effective_torque_setpoint_buf[n] = effective_torque_setpoint
        vbus_buf[n] = vbus
        modq_buf[n] = mod_q
        modd_buf[n] = mod_d
        vq_buf[n] = v_q
        vd_buf[n] = v_d
        va_buf[n] = v_a
        vb_buf[n] = v_b

        n += 1
except (AttributeError, KeyboardInterrupt) as e:
    pass

results_buf = [None]*n
for i in range(n):
    results_buf[i] = {
            't': t_buf[i],
            'tau': effective_torque_setpoint_buf[i],
            'vbus': vbus_buf[i],
            'modq': modq_buf[i],
            'modd': modd_buf[i],
            'vq': vq_buf[i],
            'vd': vd_buf[i],
            'va': va_buf[i],
            'vb': vbus_buf[i]
            }

with open('data_outfile.pkl', 'wb') as f:
    pkl.dump(results_buf, f)