ODrive ASCII Example

This example demonstrates how to use the espp::OdriveAscii component to process ODrive-compatible ASCII commands. It first runs a scripted test, then enters an interactive console mode so you can send commands from a serial terminal or Python.

Table of Contents

• ODrive ASCII Example

  • Requirements

  • Build

  • Flash and Monitor

  • Example Output

  • Interactive Usage

  • Notes

Requirements

• ESP-IDF installed and get_idf available in your shell

• A serial connection to the ESP target (USB Serial/JTAG or UART0)

Build

# From repo root
cd components/odrive_ascii/example
get_idf
idf.py build

Flash and Monitor

idf.py flash monitor

The example will:

• Run a scripted test sequence

• Enter interactive mode reading from stdin and writing responses to stdout

Example Output

Interactive Usage

Open a serial terminal or use Python to send commands:

import serial
ser = serial.Serial('/dev/ttyUSB0', 115200, timeout=0.5)

# Reads
ser.write(b'r axis0.encoder.pos_estimate\n'); print(ser.readline())
ser.write(b'r axis0.encoder.vel_estimate\n'); print(ser.readline())

# Writes
ser.write(b'w axis0.controller.input_pos 12.34\n'); print(ser.readline())

# High-rate commands
ser.write(b'p 0 1.0 0.5 0.1\n'); print(ser.readline())    # position with feedforward
ser.write(b'v 0 2.0 0.2\n'); print(ser.readline())        # velocity with torque_ff
ser.write(b'c 0 0.25\n'); print(ser.readline())           # torque (Nm)
ser.write(b't 0 10.0\n'); print(ser.readline())           # trajectory goal (turns)
ser.write(b'f 0\n'); print(ser.readline())                # feedback: "<pos> <vel>\n"
ser.write(b'es 0 0.0\n'); print(ser.readline())           # set encoder abs pos

Notes

• For full odrivetool auto-discovery you would need to implement Fibre (not covered here).