odrv0.erase_configuration()
odrv0.reboot()

odrv0.axis0.motor.config.current_lim = 30
odrv0.config.brake_resistance = 0
odrv0.axis0.motor.config.pole_pairs = 14
odrv0.axis0.motor.config.motor_type = MOTOR_TYPE_HIGH_CURRENT
odrv0.axis0.encoder.config.cpr = 4000
odrv0.axis0.encoder.config.calib_range = 0.05
odrv0.axis0.motor.config.calibration_current = 10.0
odrv0.axis0.motor.config.resistance_calib_max_voltage = 12.0

odrv0.axis0.controller.config.vel_limit = 50000
odrv0.axis0.encoder.config.mode = ENCODER_MODE_INCREMENTAL

odrv0.save_configuration()
odrv0.reboot()

odrv0.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE
odrv0.axis0.encoder.config.use_index = True
odrv0.axis0.motor.config.pre_calibrated  = True
odrv0.axis0.encoder.config.pre_calibrated = True

odrv0.save_configuration()
odrv0.reboot()

#### is this the right place for this???
odrv0.axis0.encoder.config.use_index = True
odrv0.axis0.requested_state = AXIS_STATE_ENCODER_INDEX_SEARCH
dump_errors(odrv0)
odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
### fails here with axis0  axis: Error(s):

Odrivetool: odrv0.axis0
Out[137]:
error = 0x0001 (int)
step_dir_active = False (bool)
current_state = 1 (int)
requested_state = 0 (int)
loop_counter = 644806 (int)
lockin_state = 0 (int)
homing_state = 0 (int)
config:
  startup_motor_calibration = False (bool)
  startup_encoder_index_search = False (bool)
  startup_encoder_offset_calibration = False (bool)
  startup_closed_loop_control = False (bool)
  startup_sensorless_control = False (bool)
  startup_homing = False (bool)
  enable_step_dir = False (bool)
  counts_per_step = 2.0 (float)
  watchdog_timeout = 0.0 (float)
  step_gpio_pin = 1 (int)
  dir_gpio_pin = 2 (int)
  lockin: ...
motor:
  error = 0x0000 (int)
  armed_state = 0 (int)
  is_calibrated = True (bool)
  current_meas_phB = -0.5792809724807739 (float)
  current_meas_phC = -0.1215367317199707 (float)
  DC_calib_phB = -0.22685232758522034 (float)
  DC_calib_phC = -0.6440977454185486 (float)
  phase_current_rev_gain = 0.02500000037252903 (float)
  thermal_current_lim = 126.9140625 (float)
  get_inverter_temp()
  current_control: ...
  gate_driver: ...
  timing_log: ...
  config: ...
controller:
  error = 0x0000 (int)
  pos_setpoint = 0.0 (float)
  vel_setpoint = 0.0 (float)
  vel_integrator_current = 0.0 (float)
  current_setpoint = 0.0 (float)
  vel_ramp_target = 0.0 (float)
  vel_ramp_enable = False (bool)
  config: ...
  set_pos_setpoint(pos_setpoint: float, vel_feed_forward: float, current_feed_forward: float)
  set_vel_setpoint(vel_setpoint: float, current_feed_forward: float)
  set_current_setpoint(current_setpoint: float)
  move_to_pos(pos_setpoint: float)
  move_incremental(displacement: float, from_goal_point: bool)
  start_anticogging_calibration()
  home_axis()
encoder:
  error = 0x0000 (int)
  is_ready = False (bool)
  index_found = True (bool)
  shadow_count = 226 (int)
  count_in_cpr = 226 (int)
  interpolation = 0.5 (float)
  phase = 2.5710134506225586 (float)
  pos_estimate = 226.75 (float)
  pos_cpr = 226.75 (float)
  hall_state = 1 (int)
  vel_estimate = 0.0 (float)
  calib_scan_response = 0.0 (float)
  config: ...
  set_linear_count(count: int)
sensorless_estimator:
  error = 0x0000 (int)
  phase = -1.6619460582733154 (float)
  pll_pos = -1.658933401107788 (float)
  vel_estimate = -0.7690356373786926 (float)
  config: ...