馬達0校準.txt

import odrive
import time

motor_calibration_time = 10
encoder_calibration_time = 15

input("請確保電機沒有附載，不要試圖用手去碰輪子以免受傷")

print("Searching for ODrive...")
odrv0 = odrive.find_any()
print("Odrive detected!")
print("馬達即將運轉")
odrv0.axis0.requested_state = 4
time.sleep(motor_calibration_time)
if odrv0.axis0.motor.is_calibrated == 1 and odrv0.axis0.motor.is_calibrated == 1:
	print("馬達驅動成功!")
else:
	print("錯誤!檢查配置")
	quit()
print("Saving motor calibration")
odrv0.axis0.motor.config.pre_calibrated = True
odrv0.axis0.requested_state = 7 
time.sleep(encoder_calibration_time)
if odrv0.axis0.encoder.is_ready == 1 and odrv0.axis0.encoder.is_ready == 1:
	print("編碼器校準成功!")
else:
	print("錯誤!檢查配置")
	quit()
print("儲存當前配置")	
odrv0.axis0.encoder.config.pre_calibrated = True
print("Reboot! it may take some time")
odrv0.save_configuration()
try:
	odrv0.reboot()
except:
	print("馬達0校準完成")