### Example: Configure 3D Printer Style Min Endstop

Source: https://github.com/odriverobotics/odrive/blob/master/docs/endstops.rst

Example configuration for a minimum endstop using GPIO 5, set as active high, with an offset of -0.25 turns. This setup is typical for 3D printer homing.

```Python
<odrv>.config.gpio5_mode = GPIO_MODE_DIGITAL
<odrv>.<axis>.min_endstop.config.gpio_num = 5
<odrv>.<axis>.min_endstop.config.is_active_high = False
<odrv>.<axis>.min_endstop.config.offset = -0.25
```

--------------------------------

### Install project dependencies

Source: https://github.com/odriverobotics/odrive/blob/master/GUI/README.md

Installs all necessary Node.js dependencies for the project. Run this command in the project's root directory.

```bash
npm install
```

--------------------------------

### Verify Development Tool Installation

Source: https://github.com/odriverobotics/odrive/blob/master/docs/developer-guide.rst

Run these commands to check if the necessary development tools are correctly installed and accessible in your PATH.

```Bash
arm-none-eabi-gcc --version
arm-none-eabi-gdb --version
openocd --version             # should be 0.10.0 or later
tup --version                 # should be 0.7.5 or later
python --version              # should be 3.7 or later
```

--------------------------------

### Install Teensyduino Prerequisites on Raspberry Pi

Source: https://github.com/odriverobotics/odrive/blob/master/docs/testing.rst

Install necessary libraries on the Raspberry Pi for setting up the Teensyduino development environment.

```Bash
sudo apt-get install libfontconfig libxft2 libusb-dev
```

--------------------------------

### Example ODrive CAN Configuration

Source: https://github.com/odriverobotics/odrive/blob/master/docs/can-guide.rst

An example demonstrating how to set the node IDs for axis 0 and axis 1, and configure the CAN bus baud rate to 250 kbps.

```Python
odrv0.axis0.config.can.node_id = 0
odrv0.axis1.config.can.node_id = 1
odrv0.can.config.baud_rate = 250000
```

--------------------------------

### ASCII Protocol Connection Examples

Source: https://context7.com/odriverobotics/odrive/llms.txt

Shows how to connect to the ODrive using its ASCII protocol over UART or USB serial. Examples are provided for Linux/macOS using `screen` and for Windows using PuTTY.

```bash
# Connect via serial terminal (Linux/macOS)
screen /dev/ttyACM0 115200
```

```bash
# Connect via serial terminal (Windows)
# Use PuTTY with appropriate COM port at 115200 baud
```

--------------------------------

### Start development server with hot-reloading

Source: https://github.com/odriverobotics/odrive/blob/master/GUI/README.md

Compiles the project and starts a development server that automatically reloads on code changes. Ideal for active development.

```bash
npm run serve
```

--------------------------------

### Install Homebrew on macOS

Source: https://github.com/odriverobotics/odrive/blob/master/docs/getting-started.rst

Run this command to install Homebrew, a package manager for macOS, if you don't already have it.

```bash
/usr/bin/ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
```

--------------------------------

### Download Teensyduino Installer on Raspberry Pi

Source: https://github.com/odriverobotics/odrive/blob/master/docs/testing.rst

Download the Teensyduino installer script onto the Raspberry Pi.

```Bash
wget https://www.pjrc.com/teensy/td_153/TeensyduinoInstall.linuxarm
```

--------------------------------

### Install Teensyduino

Source: https://github.com/odriverobotics/odrive/blob/master/docs/testing.rst

Installs Teensyduino to a specified directory. This command assumes the installer script is in your current directory.

```Bash
./TeensyduinoInstall.linuxarm --dir=arduino-1.8.13
```

--------------------------------

### OpenOCD Success Output Example

Source: https://github.com/odriverobotics/odrive/blob/master/docs/odrivetool.rst

Example output indicating a successful firmware write operation using OpenOCD. This confirms that the firmware has been flashed correctly.

```Bash
wrote 262144 bytes from file ODriveFirmware_v3.4-24V.elf in 10.194110s (25.113 KiB/s)
```

--------------------------------

### Install dfu-util on Linux

Source: https://github.com/odriverobotics/odrive/blob/master/docs/odrivetool.rst

Installs the dfu-util utility required for flashing firmware via USB on Linux systems. Ensure you have sudo privileges.

```Bash
sudo apt install dfu-util
```

--------------------------------

### Install odrivetool on Windows

Source: https://github.com/odriverobotics/odrive/blob/master/docs/getting-started.rst

Use this command to install or upgrade odrivetool on Windows after installing Python 3.

```bash
pip install --upgrade odrive
```

--------------------------------

### Install and Compile OpenOCD from Source

Source: https://github.com/odriverobotics/odrive/blob/master/docs/developer-guide.rst

Install necessary dependencies and compile the latest version of OpenOCD from source to support newer microcontrollers like STM32F722.

```Bash
sudo apt-get install libtool libusb-1.0
git clone https://git.code.sf.net/p/openocd/code openocd
cd openocd/
./bootstrap
./configure --enable-stlink
make
sudo make install
```

--------------------------------

### Install Python 3 and pip on Linux (Ubuntu/Raspbian)

Source: https://github.com/odriverobotics/odrive/blob/master/docs/getting-started.rst

Install Python 3 and its package installer pip on Ubuntu or Raspbian systems.

```bash
sudo apt install python3 python3-pip
```

--------------------------------

### Install dfu-util on macOS

Source: https://github.com/odriverobotics/odrive/blob/master/docs/odrivetool.rst

Installs the dfu-util utility using Homebrew for flashing firmware via USB on macOS. If using MacPorts, an alternative command is provided.

```Bash
brew install dfu-util
```

```Bash
sudo port install dfu-util
```

--------------------------------

### Prepare for GDB Debugging

Source: https://github.com/odriverobotics/odrive/blob/master/docs/developer-guide.rst

Run this command in the Firmware directory to reset and halt the program at the start, preparing for debugging with GDB. This allows setting breakpoints and stepping through the code.

```bash
make gdb
```

--------------------------------

### Install odrivetool on macOS

Source: https://github.com/odriverobotics/odrive/blob/master/docs/getting-started.rst

Install or upgrade odrivetool using pip3 after ensuring Python 3 and necessary dependencies are installed.

```bash
pip3 install --upgrade odrive
```

--------------------------------

### Install odrivetool with sudo on macOS

Source: https://github.com/odriverobotics/odrive/blob/master/docs/getting-started.rst

If you encounter permission errors during installation, run the odrivetool installation command with sudo.

```bash
sudo pip3 install --upgrade odrive
```

--------------------------------

### Run ODrive Host Setup Script

Source: https://github.com/odriverobotics/odrive/blob/master/docs/testing.rst

Executes the ODrive test runner script with the '--setup-host' argument. This command is intended to be run after every reboot to prepare the host system for testing.

```Bash
sudo -E ipython3 --pdb test_runner.py -- --setup-host
```

--------------------------------

### Install Python on macOS

Source: https://github.com/odriverobotics/odrive/blob/master/docs/getting-started.rst

Install Python 3 using Homebrew. If Python 2 is already installed, this command will upgrade it to Python 3.

```bash
brew install python
```

--------------------------------

### Install a specific module with sudo on macOS

Source: https://github.com/odriverobotics/odrive/blob/master/docs/getting-started.rst

If the odrivetool installation fails due to missing dependencies, install the specific module using pip3 with sudo and retry.

```bash
sudo pip3 install module_name
```

--------------------------------

### Install ODrive Testing Prerequisites on Raspberry Pi

Source: https://github.com/odriverobotics/odrive/blob/master/docs/testing.rst

Install essential Python packages and development tools required for ODrive automated testing on a Raspberry Pi. This includes libraries for IPython, YAML, Jinja2, USB, serial communication, CAN, SciPy, Matplotlib, and IPDB, as well as Git and OpenOCD. Optionally, install the ARM GCC compiler for firmware compilation.

```Bash
sudo apt-get install ipython3 python3-appdirs python3-yaml python3-jinja2 python3-usb python3-serial python3-can python3-scipy python3-matplotlib python3-ipdb git openocd
# Optionally, to be able to compile the firmware:
sudo apt-get install gcc-arm-none-eabi
```

--------------------------------

### Setup ODrive udev Rules

Source: https://github.com/odriverobotics/odrive/blob/master/docs/testing.rst

Runs a script to set up udev rules for ODrive devices. This is typically done from within the ODrive tools directory.

```Bash
sudo ../../odrivetool udev-setup
```

--------------------------------

### Start odrivetool and Inspect Bus Voltage

Source: https://github.com/odriverobotics/odrive/blob/master/docs/getting-started.rst

Launches the ODrive control utility and shows how to inspect the main supply voltage. Ensure your ODrive is connected.

```iPython
ODrive control utility v0.5.4
Please connect your ODrive.
Type help() for help.

Connected to ODrive 306A396A3235 as odrv0
In [1]: odrv0.vbus_voltage
Out[1]: 11.97055721282959
```

--------------------------------

### Install Development Tools (Arch Linux)

Source: https://github.com/odriverobotics/odrive/blob/master/docs/developer-guide.rst

Installs the ARM GCC toolchain, GDB, Git LFS, Tup, and Python packages for Arch Linux.

```Bash
sudo pacman -S arm-none-eabi-gcc arm-none-eabi-binutils
```

```Bash
sudo pacman -S arm-none-eabi-gdb
```

```Bash
sudo pacman -S git-lfs
```

```Bash
sudo pacman -S tup
```

```Bash
sudo pacman -S python python-yaml python-jinja python-jsonschema
```

--------------------------------

### Install Python Packages (Windows)

Source: https://github.com/odriverobotics/odrive/blob/master/docs/developer-guide.rst

Installs required Python packages for ODrive development on Windows using pip.

```Bash
pip install PyYAML Jinja2 jsonschema
```

--------------------------------

### Install Development Tools (Mac)

Source: https://github.com/odriverobotics/odrive/blob/master/docs/developer-guide.rst

Installs ARM GCC, Tup, OpenOCD, Git LFS, and Python packages on macOS using Homebrew and pip.

```Bash
brew install armmbed/formulae/arm-none-eabi-gcc
```

```Bash
brew install --cask osxfuse && brew install tup
```

```Bash
brew install openocd
```

```Bash
brew install git-lfs
```

```Bash
pip3 install PyYAML Jinja2 jsonschema
```

--------------------------------

### Install GCC ARM Embedded (Linux Ubuntu < 20.04)

Source: https://github.com/odriverobotics/odrive/blob/master/docs/developer-guide.rst

Installs the ARM GCC compiler and related tools on older Ubuntu versions using a PPA.

```Bash
sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa
```

```Bash
sudo apt-get update
```

```Bash
sudo apt-get install gcc-arm-embedded
```

```Bash
sudo apt-get install openocd
```

```Bash
sudo apt-get install git-lfs
```

```Bash
sudo add-apt-repository ppa:jonathonf/tup && sudo apt-get update && sudo apt-get install tup
```

```Bash
sudo apt-get install python3 python3-yaml python3-jinja2 python3-jsonschema
```

--------------------------------

### Start Liveplotter Tool

Source: https://github.com/odriverobotics/odrive/blob/master/docs/odrivetool.rst

Launches the ODrive liveplotter tool from the command line. This tool visualizes ODrive parameters in real time. Ensure no other instances are running.

```Bash
odrivetool liveplotter
```

--------------------------------

### ODrive Position Control Example

Source: https://context7.com/odriverobotics/odrive/llms.txt

Implement position control to command the motor to specific angular positions. This example configures velocity and current limits, enters closed-loop control, and sets the controller to position mode with passthrough input. It demonstrates moving to a direct position setpoint, then performing sinusoidal motion. Finally, it reads and prints the current position and velocity estimates before returning to idle.

```python
import odrive
from odrive.enums import *
import time
import math

odrv0 = odrive.find_any()

# Set velocity and current limits
odrv0.axis0.controller.config.vel_limit = 10  # turns/s
odrv0.axis0.motor.config.current_lim = 20     # Amps

# Enter closed-loop control
odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL

# Direct position control (units: turns)
odrv0.axis0.controller.config.control_mode = CONTROL_MODE_POSITION_CONTROL
odrv0.axis0.controller.config.input_mode = INPUT_MODE_PASSTHROUGH

# Move to position 2.0 turns
odrv0.axis0.controller.input_pos = 2.0
time.sleep(1)

# Move with velocity and torque feed-forward
# input_pos, vel_ff (turns/s), torque_ff (Nm)
odrv0.axis0.controller.input_pos = 0.0

# Read current position and velocity
print(f"Position: {odrv0.axis0.encoder.pos_estimate:.3f} turns")
print(f"Velocity: {odrv0.axis0.encoder.vel_estimate:.3f} turns/s")

# Sinusoidal motion example
t0 = time.monotonic()
for _ in range(500):
    setpoint = 2.0 * math.sin((time.monotonic() - t0) * 2)
    odrv0.axis0.controller.input_pos = setpoint
    time.sleep(0.01)

# Return to idle
odrv0.axis0.requested_state = AXIS_STATE_IDLE
```

--------------------------------

### Install C/C++ Extension for VSCode

Source: https://github.com/odriverobotics/odrive/blob/master/docs/configuring-vscode.rst

Install the C/C++ extension for VSCode. This extension provides core C/C++ language support.

```shell
ext install ms-vscode.cpptools
```

--------------------------------

### Initialize and Discover ODrive Devices

Source: https://github.com/odriverobotics/odrive/blob/master/GUI/fibre-js/multidevice_example.html

Initializes the libfibre library, starts discovering ODrive devices using a specific USB filter, and sets up UI elements for connection and status display. The discovery process calls `onFoundObject` for each discovered device.

```javascript
const filter = 'usb:idVendor=0x1209,idProduct=0x0D32,bInterfaceClass=0,bInterfaceSubClass=1,bInterfaceProtocol=0';
let showStatus = (status) => document.getElementById("textcontent").innerHTML = status;
var connectedObjects = [];
displayLoop = async () => {
    while (connectedObjects.length) {
        console.log(connectedObjects.length);
        let results = await Promise.all(connectedObjects.map(async (dev) => await dev.vbus_voltage.read()));
        showStatus('connected to ' + results.length + ' devices' + results.map((x) => "<br>vbus_voltage: " + x + "V").join());
        await new Promise((resolve) => setTimeout(resolve, 100));
    }
    showStatus("no devices connected");
}
let onFoundObject = async (obj) => {
    connectedObjects.push(obj);
    obj._onLost.then(() => connectedObjects.splice(connectedObjects.indexOf(obj), 1));
    if (connectedObjects.length == 1) {
        displayLoop();
    }
}
fibreOpen().then((libfibre) => {
    libfibre.startDiscovery(filter, onFoundObject);
    document.getElementById("connectBtn").onclick = libfibre.usbDiscoverer.showDialog;
    document.getElementById("connectBtn").removeAttribute('disabled');
    showStatus("loaded WASM libfibre version " + libfibre.version.major + "." + libfibre.version.minor + "." + libfibre.version.patch);
});
```

--------------------------------

### Copy Arduino to System Directory

Source: https://github.com/odriverobotics/odrive/blob/master/docs/testing.rst

Copies the installed Arduino IDE to the system's share directory for system-wide access. Requires superuser privileges.

```Bash
sudo cp -R arduino-1.8.13 /usr/share/arduino
```

--------------------------------

### Install OpenOCD on Linux

Source: https://github.com/odriverobotics/odrive/blob/master/docs/odrivetool.rst

Installs OpenOCD, a utility for programming and debugging embedded devices, on Linux systems. This is part of the STLink flashing procedure.

```Bash
sudo apt-get install openocd
```

--------------------------------

### Live Plotting with ODrive Utils

Source: https://context7.com/odriverobotics/odrive/llms.txt

Visualize ODrive encoder and controller setpoints in real-time using `start_liveplotter`. Ensure matplotlib is installed.

```python
import odrive
from odrive.utils import start_liveplotter, BulkCapture, step_and_plot
from odrive.enums import *

odrv0 = odrive.find_any()
odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL

# Live plotting (opens matplotlib window)
cancel_token = start_liveplotter(lambda: [
    odrv0.axis0.encoder.pos_estimate,
    odrv0.axis0.controller.pos_setpoint
])
# Close plot window to stop, or: cancel_token.set()
```

--------------------------------

### Make Teensyduino Executable

Source: https://github.com/odriverobotics/odrive/blob/master/docs/testing.rst

Grants execute permissions to the Teensyduino installer script. Ensure this script is in your current directory.

```Bash
chmod +x TeensyduinoInstall.linuxarm
```

--------------------------------

### Install OpenOCD on macOS

Source: https://github.com/odriverobotics/odrive/blob/master/docs/odrivetool.rst

Installs OpenOCD using Homebrew on macOS. This is required for flashing firmware using an STLink programmer.

```Bash
brew install openocd
```

--------------------------------

### Install GCC ARM Embedded (Linux Ubuntu >= 20.04)

Source: https://github.com/odriverobotics/odrive/blob/master/docs/developer-guide.rst

Installs the ARM GCC compiler and related tools on newer Ubuntu versions using apt.

```Bash
sudo apt install gcc-arm-none-eabi
```

```Bash
sudo apt install openocd
```

```Bash
sudo apt install git-lfs
```

```Bash
sudo apt install tup
```

```Bash
sudo apt install python3 python3-yaml python3-jinja2 python3-jsonschema
```

--------------------------------

### Initialize and Discover ODrives with fibre-js

Source: https://github.com/odriverobotics/odrive/blob/master/GUI/fibre-js/example.html

This code initializes the fibre-js library and starts a discovery process for ODrives. It filters for specific USB IDs and sets up a callback function to handle found devices. The `startDiscovery` function requires a filter string and a callback. The `usbDiscoverer.showDialog` can be used to trigger a device selection dialog.

```javascript
import { fibreOpen } from './fibre.js';

fibreOpen().then((libfibre) => {
    const filter = 'usb:idVendor=0x1209,idProduct=0x0D32,bInterfaceClass=0,bInterfaceSubClass=1,bInterfaceProtocol=0';
    const onFoundObject = async (obj) => {
        console.log("found an object!", obj);
        while (true) {
            document.getElementById("statusText").innerHTML = "vbus_voltage: " + (await obj.vbus_voltage.read());
            await new Promise((resolve) => setTimeout(resolve, 100));
        }
    }
    libfibre.startDiscovery(filter, onFoundObject);
    document.getElementById("connectBtn").onclick = libfibre.usbDiscoverer.showDialog;
    document.getElementById("connectBtn").removeAttribute('disabled');
});
```

--------------------------------

### Download Arduino IDE for Teensyduino on Raspberry Pi

Source: https://github.com/odriverobotics/odrive/blob/master/docs/testing.rst

Download the Arduino IDE, a prerequisite for installing Teensyduino, onto the Raspberry Pi.

```Bash
wget https://downloads.arduino.cc/arduino-1.8.13-linuxarm.tar.xz
```

--------------------------------

### Install ARM GCC for macOS

Source: https://github.com/odriverobotics/odrive/blob/master/docs/odrivetool.rst

Installs the GNU Arm Embedded Toolchain using Homebrew, which is necessary for converting firmware binaries on macOS.

```Bash
brew install --cask gcc-arm-embedded
```

--------------------------------

### Start Liveplotter for Position Feedback

Source: https://github.com/odriverobotics/odrive/blob/master/docs/control.rst

Initiate the liveplotter tool to visualize the motor's position estimate against the commanded position setpoint. Requires ODrive tool.

```python
start_liveplotter(lambda:[odrv0.axis0.encoder.pos_estimate, odrv0.axis0.controller.pos_setpoint])
```

--------------------------------

### Compile libfibre on Ubuntu

Source: https://github.com/odriverobotics/odrive/blob/master/Firmware/fibre-cpp/README.md

Compile libfibre on Ubuntu by installing the libusb development package and running make.

```bash
sudo apt-get install libusb-1.0-0-dev
make
```

--------------------------------

### CAN DBC Example Script

Source: https://github.com/odriverobotics/odrive/blob/master/docs/can-guide.rst

An example Python script demonstrating the usage of encode_message() and decode_message() with a CAN DBC file. This is the recommended method for data serialization.

```python
can_dbc_example.py
```

--------------------------------

### Install Teensy Loader CLI

Source: https://github.com/odriverobotics/odrive/blob/master/docs/testing.rst

Copies the compiled Teensy Loader executable to the system's bin directory for global access. Requires superuser privileges.

```Bash
sudo cp teensy_loader_cli /usr/bin/
```

--------------------------------

### Configure Automatic Startup for Closed-Loop Control

Source: https://github.com/odriverobotics/odrive/blob/master/docs/hoverboard.rst

Enable automatic startup for closed-loop control on both axes and save the configuration. This allows the ODrive to start in closed-loop control mode after booting without external intervention.

```Bash
odrv0.axis0.config.startup_closed_loop_control = True
odrv0.axis1.config.startup_closed_loop_control = True
odrv0.save_configuration()
odrv0.reboot()
```

--------------------------------

### Install Cortex-Debug Device Support Pack for STM32F4

Source: https://github.com/odriverobotics/odrive/blob/master/docs/configuring-vscode.rst

Install the device support pack for STM32F4 microcontrollers within the Cortex-Debug extension. This enables specific debugging features for STM32F4 devices.

```shell
ext install marus25.cortex-debug-dp-stm32f4
```

--------------------------------

### Compile libfibre on macOS

Source: https://github.com/odriverobotics/odrive/blob/master/Firmware/fibre-cpp/README.md

Compile libfibre on macOS using Homebrew to install libusb and then running make.

```bash
brew install libusb
make
```

--------------------------------

### Start Liveplotter from odrivetool

Source: https://github.com/odriverobotics/odrive/blob/master/docs/odrivetool.rst

Initiate the liveplotter directly from the interactive odrivetool prompt to plot variables while interacting with the ODrive. Multiple parameters can be plotted by separating them with commas within the square brackets.

```ipython
start_liveplotter(lambda: [odrv0.axis0.encoder.pos_estimate])
```

--------------------------------

### ODrive Firmware Update Process Output

Source: https://github.com/odriverobotics/odrive/blob/master/docs/odrivetool.rst

Example output during an ODrive firmware update process, showing connection, version checks, download, and flashing status.

```iPython
ODrive control utility v0.3.7.dev
Waiting for ODrive...
Found ODrive 308039673235 (v3.5-24V) with firmware v0.3.7-dev
Checking online for newest firmware... found v0.3.7
Downloading firmware...
Putting device 308039673235 into DFU mode...
Erasing... done            
Flashing... done            
Verifying... done            
```

--------------------------------

### Find and Print ODrive Bus Voltage (Python)

Source: https://github.com/odriverobotics/odrive/blob/master/docs/native-protocol.rst

This Python snippet demonstrates how to find an ODrive device and print its bus voltage. Ensure the 'odrive' library is installed.

```Python
import odrive
odrv0 = odrive.find_any()
print(str(odrv0.vbus_voltage))
```

--------------------------------

### Serve Electron version of GUI

Source: https://github.com/odriverobotics/odrive/blob/master/GUI/README.md

Launches the GUI as a desktop application using Electron, suitable for testing the packaged version during development.

```bash
npm run electron:serve
```

--------------------------------

### Manually add udev rules on Linux

Source: https://github.com/odriverobotics/odrive/blob/master/docs/getting-started.rst

If automatic udev rule installation fails, manually add the rules for ODRI VE USB devices to ensure proper communication.

```bash
echo 'SUBSYSTEM=="usb", ATTR{idVendor}=="1209", ATTR{idProduct}=="0d[0-9][0-9]", MODE="0666"' | sudo tee /etc/udev/rules.d/91-odrive.rules
sudo udevadm control --reload-rules
sudo udevadm trigger
```

--------------------------------

### Initiate Motor Calibration

Source: https://github.com/odriverobotics/odrive/blob/master/docs/hoverboard.rst

Set the axis state to start the motor calibration process. Ensure the motor is free to move before initiating this step.

```bash
odrv0.axis0.requested_state = AXIS_STATE_MOTOR_CALIBRATION
```

--------------------------------

### Checkout STM32CubeMX-start Branch

Source: https://github.com/odriverobotics/odrive/blob/master/docs/developer-guide.rst

Use this command to switch to the STM32CubeMX-start branch for code regeneration.

```bash
git checkout STM32CubeMX-start
```

--------------------------------

### Install odrivetool without dependencies on macOS

Source: https://github.com/odriverobotics/odrive/blob/master/docs/getting-started.rst

Use this command to install odrivetool without its dependencies if you are experiencing installation issues. Be aware this may lead to runtime errors.

```bash
sudo pip3 install odrive --no-deps
```

--------------------------------

### Map RC PWM Inputs to Velocity Setpoints

Source: https://github.com/odriverobotics/odrive/blob/master/docs/hoverboard.rst

Configure GPIO pins 3 and 4 to map the full RC stick range to velocity setpoints for axis 0 and axis 1 respectively. This setup is necessary before saving the configuration and rebooting.

```Bash
odrv0.config.gpio3_pwm_mapping.min = -2
odrv0.config.gpio3_pwm_mapping.max = 2
odrv0.config.gpio3_pwm_mapping.endpoint = odrv0.axis0.controller._input_vel_property

odrv0.config.gpio4_pwm_mapping.min = -2
odrv0.config.gpio4_pwm_mapping.max = 2
odrv0.config.gpio4_pwm_mapping.endpoint = odrv0.axis1.controller._input_vel_property
```

--------------------------------

### Install libusb on macOS

Source: https://github.com/odriverobotics/odrive/blob/master/docs/getting-started.rst

Install libusb, which is required for odrivetool to communicate with the ODRI VE hardware.

```bash
brew install libusb
```

--------------------------------

### Run GUI from source with local dependencies

Source: https://github.com/odriverobotics/odrive/blob/master/GUI/README.md

Launches the GUI using local dependencies from the repository, useful for testing unreleased changes. The path argument specifies the location of local tools.

```bash
npm run electron:serve -- ../tools/
```

--------------------------------

### Trapezoidal Trajectory Control Setup and Execution

Source: https://context7.com/odriverobotics/odrive/llms.txt

Sets up and executes point-to-point motion using trapezoidal trajectory control. Configure acceleration, deceleration, cruise velocity, and optional inertia. Safety limits should be set slightly higher than trajectory limits. The `trajectory_done` flag can be polled to wait for move completion.

```python
import odrive
from odrive.enums import *
import time

odrv0 = odrive.find_any()

# Configure trajectory planner
odrv0.axis0.trap_traj.config.vel_limit = 5.0     # turns/s cruise speed
odrv0.axis0.trap_traj.config.accel_limit = 2.0   # turns/s^2
odrv0.axis0.trap_traj.config.decel_limit = 2.0   # turns/s^2
odrv0.axis0.controller.config.inertia = 0.0      # Optional: improves response

# Set safety limits slightly higher than trajectory limits
odrv0.axis0.controller.config.vel_limit = 6.0
odrv0.axis0.motor.config.current_lim = 20

# Enable trajectory mode
odrv0.axis0.controller.config.control_mode = CONTROL_MODE_POSITION_CONTROL
odrv0.axis0.controller.config.input_mode = INPUT_MODE_TRAP_TRAJ

odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL

# Execute absolute move to position 10 turns
odrv0.axis0.controller.input_pos = 10.0

# Wait for move to complete
while not odrv0.axis0.controller.trajectory_done:
    time.sleep(0.1)
print("Move complete!")

# Execute incremental move (+5 turns from current goal)
odrv0.axis0.controller.move_incremental(5.0, True)  # from_goal_point=True

# Execute incremental move (+2 turns from current actual position)
odrv0.axis0.controller.move_incremental(2.0, False)  # from_goal_point=False

odrv0.axis0.requested_state = AXIS_STATE_IDLE
```

--------------------------------

### Reading Object Properties Periodically

Source: https://github.com/odriverobotics/odrive/blob/master/GUI/fibre-js/README.md

This example demonstrates how to continuously read a property (vbus_voltage) from a discovered object and update the UI every 100ms. It requires the object to have the specified readable property.

```javascript
while (true) {
    document.getElementById("statusText").innerHTML = "vbus_voltage: " + (await obj.vbus_voltage.read());
    await new Promise((resolve) => setTimeout(resolve, 100));
}
```

--------------------------------

### Configure Startup Procedures

Source: https://github.com/odriverobotics/odrive/blob/master/docs/commands.rst

Set startup procedures to True to enable them. The ODrive will execute enabled startup actions in a specific order.

```python
<axis>.config.startup_motor_calibration = True
```

```python
<axis>.config.startup_encoder_index_search = True
```

```python
<axis>.config.startup_encoder_offset_calibration = True
```

```python
<axis>.config.startup_closed_loop_control = True
```

--------------------------------

### Loading and Initializing fibre-js

Source: https://github.com/odriverobotics/odrive/blob/master/GUI/fibre-js/README.md

This script tag demonstrates how to import and initialize fibre-js, preparing it for use after the library is loaded.

```javascript
import { fibreOpen } from './fibre.js';
fibreOpen().then((libfibre) => {
    // fibre-js is ready to use!
});
```

--------------------------------

### Install Cortex-Debug Extension for VSCode

Source: https://github.com/odriverobotics/odrive/blob/master/docs/configuring-vscode.rst

Install the Cortex-Debug extension for VSCode. This extension is essential for debugging ARM Cortex projects.

```shell
ext install marus25.cortex-debug
```

--------------------------------

### Enter Teensy Loader Directory

Source: https://github.com/odriverobotics/odrive/blob/master/docs/testing.rst

Navigates into the cloned teensy_loader_cli directory to prepare for compilation. Use 'popd' to return to the previous directory.

```Bash
pushd teensy_loader_cli
```

--------------------------------

### Checkout STM32CubeMX-end Branch for Rebasing

Source: https://github.com/odriverobotics/odrive/blob/master/docs/developer-guide.rst

Switch to the STM32CubeMX-end branch to prepare for rebasing changes from STM32CubeMX-start.

```bash
git checkout STM32CubeMX-end
```

--------------------------------

### Configure Step/Dir Pins and Enable

Source: https://github.com/odriverobotics/odrive/blob/master/docs/step-direction.rst

Assign specific GPIO pins to be used for step and direction signals, and then enable the step/dir control mode for the axis.

```python
<axis>.config.step_gpio_pin = 7
<axis>.config.dir_gpio_pin = 8
<axis>.config.enable_step_dir = True
```

--------------------------------

### Initiate Encoder Index Search

Source: https://github.com/odriverobotics/odrive/blob/master/docs/encoders.rst

After a reboot and with pre-calibration enabled, initiate the encoder index search. This should complete without errors if calibration was successful.

```Python
<axis>.requested_state = AXIS_STATE_ENCODER_INDEX_SEARCH
```

--------------------------------

### Enable Homing at Startup

Source: https://github.com/odriverobotics/odrive/blob/master/docs/endstops.rst

Configure the ODrive to automatically initiate the homing sequence immediately after startup. This ensures the axis is homed before any other operations.

```Python
<odrv>.<axis>.config.startup_homing = True
```

--------------------------------

### Flash Firmware using dfu-util on Linux

Source: https://github.com/odriverobotics/odrive/blob/master/docs/odrivetool.rst

Flashes the compiled ODrive firmware binary to the device using dfu-util. This command requires the firmware file to be in the 'build' directory and the ODrive to be in DFU mode.

```Bash
sudo dfu-util -a 0 -s 0x08000000 -D build/ODriveFirmware.bin
```

--------------------------------

### Install PhantomJS for ARM builds

Source: https://github.com/odriverobotics/odrive/blob/master/GUI/README.md

Installs PhantomJS, a required dependency for building the Electron app on ARM platforms like Raspberry Pi. This command is typically run on Debian-based systems.

```bash
sudo apt install phantomjs
```

--------------------------------

### ODrive Error Code Example

Source: https://github.com/odriverobotics/odrive/blob/master/docs/troubleshooting.rst

This is an example of the output you might see when dump_errors() encounters an AttributeError due to a version mismatch between odrivetool and the ODrive firmware. It shows the traceback leading to the error.

```python
In [1]: dump_errors(odrv0)
axis0
---------------------------------------------------------------------------
AttributeError                            Traceback (most recent call last)
  File "~/.local/lib/python3.6/site-packages/fibre/shell.py", line 78, in <module>
    dump_errors(odrv0)

  File "~/.local/lib/python3.6/site-packages/odrive/utils.py", line 80, in dump_errors
    ('fet_thermistor', axis.fet_thermistor, {k: v for k, v in odrive.enums.__dict__ .items() if k.startswith("THERMISTOR_CURRENT_LIMITER_ERROR")}),

  File "~/.local/lib/python3.6/site-packages/fibre/remote_object.py", line 245, in __getattribute__
    return object.__getattribute__(self, name)

AttributeError: 'RemoteObject' object has no attribute 'fet_thermistor'
```

--------------------------------

### Rebase STM32CubeMX-end onto STM32CubeMX-start

Source: https://github.com/odriverobotics/odrive/blob/master/docs/developer-guide.rst

Apply changes from the STM32CubeMX-start branch onto the STM32CubeMX-end branch. Resolve any conflicts that occur.

```bash
git rebase STM32CubeMX-start
```

--------------------------------

### Start Motor in Closed Loop Control

Source: https://github.com/odriverobotics/odrive/blob/master/docs/commands.rst

Initiates closed-loop control for the motor axis after sensorless mode has been configured.

```python
odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
```

--------------------------------

### Flash Firmware with odrivetool

Source: https://github.com/odriverobotics/odrive/blob/master/docs/developer-guide.rst

Use this command after connecting the ODrive via USB and powering it up to flash the compiled firmware. Refer to `odrivetool dfu` documentation for more details.

```bash
odrivetool dfu
```

--------------------------------

### OpenOCD Flashing Output with LIBUSB_ERROR_IO

Source: https://github.com/odriverobotics/odrive/blob/master/docs/developer-guide.rst

Example output from OpenOCD indicating a LIBUSB_ERROR_IO when attempting to flash the ODrive using STLink/v2.

```text
Open On-Chip Debugger 0.10.0
Licensed under GNU GPL v2
For bug reports, read
    http://openocd.org/doc/doxygen/bugs.html
Info : auto-selecting first available session transport "hla_swd". To override use 'transport select <transport>'.
Info : The selected transport took over low-level target control. The results might differ compared to plain JTAG/SWD
adapter speed: 2000 kHz
adapter_nsrst_delay: 100
none separate
Info : Unable to match requested speed 2000 kHz, using 1800 kHz
Info : Unable to match requested speed 2000 kHz, using 1800 kHz
Info : clock speed 1800 kHz
Error: libusb_open() failed with LIBUSB_ERROR_IO
Error: open failed
in procedure 'init' 
in procedure 'ocd_bouncer'
```

--------------------------------

### Create ODrive Test Directory

Source: https://github.com/odriverobotics/odrive/blob/master/docs/testing.rst

Creates a directory for ODrive testing and sets the current user as the owner. Requires superuser privileges for creation.

```Bash
sudo mkdir /opt/odrivetest && sudo chown $USER /opt/odrivetest
```

--------------------------------

### Upgrade Python on macOS

Source: https://github.com/odriverobotics/odrive/blob/master/docs/getting-started.rst

If you encounter an error indicating Python 2.7 is already installed, use this command to upgrade to Python 3.

```bash
brew upgrade python
```

--------------------------------

### Create Arduino Symbolic Link

Source: https://github.com/odriverobotics/odrive/blob/master/docs/testing.rst

Creates a symbolic link for the Arduino executable in the system's bin directory, allowing it to be run from anywhere. Requires superuser privileges.

```Bash
sudo ln -s /usr/share/arduino/arduino /usr/bin/arduino
```

--------------------------------

### OpenOCD Flashing Output with Target Identification Warning

Source: https://github.com/odriverobotics/odrive/blob/master/docs/developer-guide.rst

Example output from OpenOCD showing a warning about not identifying the target as an STM32 family during flashing.

```text
 [...] 
** Programming Started **
auto erase enabled
Info : device id = 0x10006452
Warn : Cannot identify target as a STM32 family.
Error: auto_probe failed
```

--------------------------------

### Build Electron app for multiple platforms

Source: https://github.com/odriverobotics/odrive/blob/master/GUI/README.md

Creates executable builds for Windows, macOS, and Linux. The `-mwl` flag specifies the target platforms.

```bash
npm run electron:build -- -mwl
```

--------------------------------

### CAN Simple Frame Structure Example

Source: https://github.com/odriverobotics/odrive/blob/master/docs/can-protocol.rst

Illustrates how the 11-bit Arbitration ID is constructed by combining the Axis ID and Command ID in the CAN Simple protocol.

```Python
can_id = axis_id << 5 | cmd_id
```

```Python
0x01 << 5 | 0x0C = 0x2C
```

--------------------------------

### Package Electron app into an executable

Source: https://github.com/odriverobotics/odrive/blob/master/GUI/README.md

Builds the Electron application into a distributable executable file. This is the command for creating the final application package.

```bash
npm run electron:build
```

--------------------------------

### Upgrade odrivetool

Source: https://github.com/odriverobotics/odrive/blob/master/docs/troubleshooting.rst

Install the latest version of the odrivetool to resolve potential version mismatches with ODrive firmware. This command uses pip for package management.

```bash
pip install odrive --upgrade
```

--------------------------------

### ASCII Protocol Read Commands

Source: https://context7.com/odriverobotics/odrive/llms.txt

Demonstrates basic read commands using the ODrive's ASCII protocol to query bus voltage and encoder position.

```bash
# Read bus voltage
r vbus_voltage
# Response: 24.087744
```

```bash
# Read encoder position
r axis0.encoder.pos_estimate
```

--------------------------------

### Add local bin to PATH on Linux

Source: https://github.com/odriverobotics/odrive/blob/master/docs/getting-started.rst

If odrivetool is not recognized after installation, add ~/.local/bin to your system's PATH environment variable by editing the .bashrc file.

```bash
nano ~/.bashrc
export PATH=$PATH:~/.local/bin
```

--------------------------------

### Set Encoder Pre-Calibrated and Enable Index Search on Startup

Source: https://github.com/odriverobotics/odrive/blob/master/docs/encoders.rst

Confirms the encoder offset is valid with respect to the index pulse and enables automatic index searching on startup for faster machine initialization.

```Python
<axis>.encoder.config.pre_calibrated = True
```

```Python
<axis>.config.startup_encoder_index_search = True
```

--------------------------------

### Start Encoder Offset Calibration

Source: https://github.com/odriverobotics/odrive/blob/master/docs/encoders.rst

Initiates the encoder offset calibration process for an axis. Ensure the rotor can rotate freely without biased load during this phase.

```Python
<axis>.requested_state = AXIS_STATE_ENCODER_OFFSET_CALIBRATION
```

--------------------------------

### Compile libfibre with Docker

Source: https://github.com/odriverobotics/odrive/blob/master/Firmware/fibre-cpp/README.md

Use these Docker commands to build libfibre for the linux-amd64 target. Ensure the output directory is mounted correctly.

```bash
docker build -t fibre-compiler .
docker run -it -v /tmp/build:/build/cpp/build --entrypoint bash fibre-compiler -c "rm -rd /build/cpp/build/*"
docker run -it -v "$(pwd)":/build -v /tmp/build:/build/build -w /build fibre-compiler configs/linux-amd64.config
```

--------------------------------

### Enable and Configure Endstop

Source: https://github.com/odriverobotics/odrive/blob/master/docs/endstops.rst

Enable the minimum endstop and set the GPIO mode for pull-up resistors. This is a prerequisite for endstop functionality.

```Python
<odrv>.<axis>.min_endstop.config.enabled = True
<odrv>.config.gpio5_mode = GPIO_MODE_DIGITAL_PULL_UP
```

--------------------------------

### Add Teensy udev Rules

Source: https://github.com/odriverobotics/odrive/blob/master/docs/testing.rst

Downloads and installs udev rules for Teensy devices, allowing non-root access. This is crucial for the Teensy Loader CLI to function correctly.

```Bash
curl https://www.pjrc.com/teensy/49-teensy.rules | sudo tee /etc/udev/rules.d/49-teensy.rules
```

--------------------------------

### Enter Docker Container Interactively

Source: https://github.com/odriverobotics/odrive/blob/master/Firmware/fibre-cpp/README.md

If compilation fails, use this command to enter the Docker container interactively for debugging. Ensure volumes are mounted as needed.

```bash
docker run -it -v "$(pwd)":/build -v /tmp/build:/build/build -w /build --entrypoint bash fibre-compiler
```

--------------------------------

### Build ODrive Firmware

Source: https://github.com/odriverobotics/odrive/blob/master/docs/configuring-vscode.rst

Initiate the firmware build process using the 'make -j4' command within VSCode's integrated terminal. This command compiles the ODrive firmware with parallel job execution for faster builds.

```shell
make -j4
```

--------------------------------

### Compile libfibre on Windows

Source: https://github.com/odriverobotics/odrive/blob/master/Firmware/fibre-cpp/README.md

Instructions for compiling libfibre on Windows using MinGW. Ensure MinGW is in your PATH and libusb binaries are correctly placed.

```bash
make
```

--------------------------------

### Set Filter Bandwidth for Position Control

Source: https://github.com/odriverobotics/odrive/blob/master/docs/control-modes.rst

Set the filter bandwidth in Hz for the second-order position filter. A good starting point is half of your setpoint command rate.

```ipython
axis.controller.config.input_filter_bandwidth = 2.0
```

--------------------------------

### Display ODrive Serial Numbers from lsusb Output

Source: https://github.com/odriverobotics/odrive/blob/master/docs/odrivetool.rst

Example output from the lsusb command, showing the iSerial field for connected ODrives. Multiple ODrives may be listed.

```Bash
iSerial                 3 385F324D3037
iSerial                 3 306A396A3235
```

--------------------------------

### Connect to ODrive and Enter Interactive Shell

Source: https://github.com/odriverobotics/odrive/blob/master/docs/odrivetool.rst

Run odrivetool to connect to an ODrive and enter its interactive shell. The serial number is displayed upon successful connection.

```iPython
Connected to ODrive 306A396A3235 as odrv0
In [1]:
```

--------------------------------

### Get Motor Feedback (Position and Velocity)

Source: https://github.com/odriverobotics/odrive/blob/master/docs/ascii-protocol.rst

Use 'f' followed by the motor number to request feedback. The response provides encoder position in turns and velocity in turns/s.

```ascii
f motor
```

```ascii
pos vel
```

--------------------------------

### Enable SPI on Raspberry Pi

Source: https://github.com/odriverobotics/odrive/blob/master/docs/testing.rst

Add SPI enable and overlay configurations to the Raspberry Pi's boot configuration file.

```Bash
dtparam=spi=on
```

```Bash
dtoverlay=spi-bcm2835-overlay
```