docs: Add documentation for ODrive Module.

Signed-off-by: icyqwq <[email protected]>

Author: icyqwq

docs/en/module/index.rst

@@ -15,6 +15,7 @@ Module
     lora.rst
     lorawan868.rst
     nbiot.rst
+    odrive.rst
     plus.rst
     pps.rst
     rca.rst

docs/en/module/odrive.rst

@@ -0,0 +1,364 @@
+
+ODriveModule
+============
+
+.. include:: ../refs/module.odrive.ref
+
+ODrive is a high-performance servo motor drive module launched by M5Stack, based on the open source motion control solution ODrive.
+
+Support the following products:
+
+|ODriveModule|
+
+Micropython Example::
+
+    import os, sys, io
+    import M5
+    from M5 import *
+    from module import ODriveModule
+    drive = ODriveModule(port=(13,5))
+    drive.get_vbus_voltage()
+    drive.set_velocity(10)
+    drive.set_current(5)
+    drive.set_control_mode(ODriveModule.CONTROL_MODE_POSITION_CONTROL)
+    drive.set_position(1000)
+
+
+UIFLOW2 Example:
+
+    |example.png|
+
+.. only:: builder_html
+
+    |core_odrive_example.m5f2|
+
+
+class ODriveModule
+------------------
+
+Constructors
+------------
+
+.. class:: ODriveModule(id, port)
+
+    Initialize the ODriveModule.
+
+    :param int id: 
+    :param  port: 
+
+    UIFLOW2:
+
+        |init.png|
+
+
+Methods
+-------
+
+.. method:: ODriveModule.set_position(position, velocity_feedforward, current_feedforward)
+
+    Set the target position with optional feedforward values.
+
+    :param  position: The target position in counts or radians, depending on the configuration.
+    :param float velocity_feedforward: The feedforward velocity in counts/s or radians/s to assist the controller.
+    :param float current_feedforward: The feedforward current in amperes to assist the controller.
+
+    UIFLOW2:
+
+        |set_position.png|
+
+.. method:: ODriveModule.set_velocity(velocity, current_feedforward)
+
+    Set the target velocity with optional current feedforward.
+
+    :param  velocity: The target velocity in counts/s or radians/s.
+    :param float current_feedforward: The feedforward current in amperes to assist the controller.
+
+    UIFLOW2:
+
+        |set_velocity.png|
+
+.. method:: ODriveModule.set_current(current)
+
+    Set the target current.
+
+    :param  current: The target current in amperes for torque control.
+
+    UIFLOW2:
+
+        |set_current.png|
+
+.. method:: ODriveModule.set_gain(pos_gain, vel_gain, vel_integrator_gain)
+
+
+    :param  pos_gain: 
+    :param  vel_gain: 
+    :param  vel_integrator_gain: 
+
+    UIFLOW2:
+
+        |set_gain.png|
+
+.. method:: ODriveModule.set_control_mode(mode)
+
+    Set the control mode of the controller.
+
+    :param  mode: The control mode.
+
+    UIFLOW2:
+
+        |set_control_mode.png|
+
+.. method:: ODriveModule.set_control_input_pos(pos)
+
+    Set the control input position for the controller.
+
+    :param  pos: The desired input position in counts or radians for position control.
+
+    UIFLOW2:
+
+        |set_control_input_pos.png|
+
+.. method:: ODriveModule.trapezoidal_move(position)
+
+    Perform a trapezoidal move to the given position.
+
+    :param  position: The target position in counts or radians to move to using a trapezoidal velocity profile.
+
+    UIFLOW2:
+
+        |trapezoidal_move.png|
+
+.. method:: ODriveModule.run_state(requested_state, timeout)
+
+    Run the axis to the requested state within a timeout period.
+
+    :param  requested_state: The desired axis state to transition to, using the AXIS_STATE_* constants.
+    :param  timeout: Timeout in milliseconds to wait for the axis to reach the requested state.
+
+    UIFLOW2:
+
+        |run_state.png|
+
+.. method:: ODriveModule.get_velocity()
+
+    Get the estimated velocity of the motor.
+
+    :return (float): The estimated velocity in counts/s or radians/s.
+
+    UIFLOW2:
+
+        |get_velocity.png|
+
+.. method:: ODriveModule.get_vbus_voltage()
+
+    Get the measured bus voltage.
+
+    :return (float): The bus voltage in volts.
+
+    UIFLOW2:
+
+        |get_vbus_voltage.png|
+
+.. method:: ODriveModule.get_phase_current()
+
+    Get the measured phase current of the motor.
+
+    :return (float): The phase current in amperes.
+
+    UIFLOW2:
+
+        |get_phase_current.png|
+
+.. method:: ODriveModule.get_bus_current()
+
+    Get the bus current drawn by the motor.
+
+    :return (float): The bus current in amperes.
+
+    UIFLOW2:
+
+        |get_bus_current.png|
+
+.. method:: ODriveModule.get_encoder_shadow_count()
+
+    Get the encoder's shadow count, which is an internal counter.
+
+    :return (int): The shadow count as an integer value.
+
+    UIFLOW2:
+
+        |get_encoder_shadow_count.png|
+
+.. method:: ODriveModule.get_encoder_pos_estimate()
+
+    Get the estimated position from the encoder.
+
+    :return (float): The estimated position in counts or radians.
+
+    UIFLOW2:
+
+        |get_encoder_pos_estimate.png|
+
+.. method:: ODriveModule.get_motor_temp()
+
+    Get the temperature of the motor thermistor.
+
+    :return (float): The motor temperature in degrees Celsius.
+
+    UIFLOW2:
+
+        |get_motor_temp.png|
+
+.. method:: ODriveModule.erase_config()
+
+    Erase the current configuration settings.
+
+
+    UIFLOW2:
+
+        |erase_config.png|
+
+.. method:: ODriveModule.save_config()
+
+    Save the current configuration to non-volatile memory.
+
+
+    UIFLOW2:
+
+        |save_config.png|
+
+.. method:: ODriveModule.reboot()
+
+    Reboot the ODrive device.
+
+
+    UIFLOW2:
+
+        |reboot.png|
+
+.. method:: ODriveModule.set_default_config()
+
+    Set the default configuration parameters.
+
+
+    UIFLOW2:
+
+        |set_default_config.png|
+
+.. method:: ODriveModule.check_error()
+
+    Check for any errors in the system components.
+
+
+    UIFLOW2:
+
+        |check_error.png|
+
+.. method:: ODriveModule.read_flush()
+
+    Flush the UART read buffer to clear any residual data.
+
+
+    UIFLOW2:
+
+        |read_flush.png|
+
+.. method:: ODriveModule.read_string()
+
+    Read a string terminated by a newline character from the device.
+
+    :return (str): The string read from the device, excluding the newline character.
+
+    UIFLOW2:
+
+        |read_string.png|
+
+.. method:: ODriveModule.read_float()
+
+    Read a floating-point value from the device.
+
+    :return (float): The float value read from the device; returns 0.0 if parsing fails.
+
+    UIFLOW2:
+
+        |read_float.png|
+
+.. method:: ODriveModule.read_int()
+
+    Read an integer value from the device.
+
+    :return (int): The integer value read from the device; returns 0 if parsing fails.
+
+    UIFLOW2:
+
+        |read_int.png|
+
+.. method:: ODriveModule.write_to_device(data)
+
+    Write a command string to the device via UART.
+
+    :param  data: The command string to send to the device, ending with a newline character.
+
+    UIFLOW2:
+
+        |write_to_device.png|
+
+.. method:: ODriveModule.write_config(config, value)
+
+    Write a configuration parameter to the device.
+
+    :param  config: The configuration key as a string, e.g., 'axis0.controller.config.pos_gain'.
+    :param  value: The value to set for the configuration parameter; can be a float or integer.
+
+    UIFLOW2:
+
+        |write_config.png|
+
+.. method:: ODriveModule.read_config_int(config)
+
+    Read an integer configuration parameter from the device.
+
+    :return (int): The integer value of the specified configuration parameter; returns 0 if parsing fails.
+    :param  config: The configuration key as a string, e.g., 'axis0.encoder.error'.
+
+    UIFLOW2:
+
+        |read_config_int.png|
+
+.. method:: ODriveModule.read_config_float(config)
+
+    Read a floating-point configuration parameter from the device.
+
+    :return (float): The float value of the specified configuration parameter; returns 0.0 if parsing fails.
+    :param  config: The configuration key as a string, e.g., 'axis0.motor_thermistor.temperature'.
+
+    UIFLOW2:
+
+        |read_config_float.png|
+
+
+
+Constants
+---------
+
+.. data:: ODriveModule.AXIS_STATE_UNDEFINED
+.. data:: ODriveModule.AXIS_STATE_IDLE
+.. data:: ODriveModule.AXIS_STATE_STARTUP_SEQUENCE
+.. data:: ODriveModule.AXIS_STATE_FULL_CALIBRATION_SEQUENCE
+.. data:: ODriveModule.AXIS_STATE_MOTOR_CALIBRATION
+.. data:: ODriveModule.AXIS_STATE_SENSORLESS_CONTROL
+.. data:: ODriveModule.AXIS_STATE_ENCODER_INDEX_SEARCH
+.. data:: ODriveModule.AXIS_STATE_ENCODER_OFFSET_CALIBRATION
+.. data:: ODriveModule.AXIS_STATE_CLOSED_LOOP_CONTROL
+
+    Axis states
+
+    
+.. data:: ODriveModule.CONTROL_MODE_VOLTAGE_CONTROL
+.. data:: ODriveModule.CONTROL_MODE_TORQUE_CONTROL
+.. data:: ODriveModule.CONTROL_MODE_VELOCITY_CONTROL
+.. data:: ODriveModule.CONTROL_MODE_POSITION_CONTROL
+
+    Control modes
+
+