### Python HID Command Example

Source: https://github.com/ultrawipf/openffboard/wiki/commands/header.txt

This Python script demonstrates how to send and receive commands using the HID interface with the pywinusb library. It includes functions for sending commands and parsing received data.

```python
import pywinusb.hid as hid
import time
import struct

# Receive and print data
def readData(data):
    if(data[0] == 0xA1):
        t = data[1]
        cls = struct.unpack('<H', bytes(data[2:4]))
        instance = data[4]
        cmd = struct.unpack('<L', bytes(data[5:9]))
        val = struct.unpack('<q', bytes(data[9:17]))
        addr = struct.unpack('<q', bytes(data[17:25]))
        print(f"Type: {t}, Class: {cls}.{instance}: cmd: {cmd}, val: {val}, addr: {addr}")


def sendCommand(report,type,cls,inst,cmd,data=0,adr=0):
    report[hid.get_full_usage_id(0xff00, 0x01)]=type # type. (0 = write, 1 = read)
    report[hid.get_full_usage_id(0xff00, 0x02)]=cls # cls (axis)
    report[hid.get_full_usage_id(0xff00, 0x03)]=inst # instance
    report[hid.get_full_usage_id(0xff00, 0x04)]=cmd # cmd (power)
    report[hid.get_full_usage_id(0xff00, 0x05)]=data # data
    report[hid.get_full_usage_id(0xff00, 0x06)]=adr # adr
    report.send()

def main():
    device = hid.HidDeviceFilter(vendor_id = 0x1209,product_id = 0xFFB0).get_devices()[0]
    device.open()

    device.set_raw_data_handler(readData)

    reports = device.find_output_reports(0xff00,0x01)
    if(reports):
        report = reports[0]
        print("Found",report)
        sendCommand(report,1,0xA01,0,0x00,0) # get power
        sendCommand(report,0,0xA01,0,0x00,1337) # set power
        sendCommand(report,1,0xA01,0,0x00,0) # get power

    while device.is_plugged():
        time.sleep(0.5)
    device.close()

if __name__ == '__main__':
    main()

```

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

### OpenFFBoard XML Input Mapping Profile

Source: https://github.com/ultrawipf/openffboard/wiki/Games-setup

An example XML configuration file to potentially set OpenFFBoard as the primary steering device in Forza Horizon 5. This may help with device recognition and stability, though its effectiveness is not confirmed.

```xml
<Profiles>
<RawGameControllerInputMappingProfile Version="1" Id="a5dcbf10-6530-11d2-901f-00c04fb951ed" UserFacingName="IDS_DefaultWheelProfile_OpenFFBoard_Name" IsDefaultProfile="1" PrimaryDeviceVidPid="0x1209FFB0" FFBDeviceVidPid="0x1209FFB0" FFBMotorIndex="0">

  <!-- Race -->
  <Context Version="1" Context="INPUTCONTEXT_RACING">
    <Value Version="1" Key="INPUTCMD_GAS" VidPid="0x044fb67f" InputType="Axis" Index="1" InvertAxis="false" InnerDeadzone="0." OuterDeadzone="1.00" />
    <Value Version="1" Key="INPUTCMD_BRAKE" VidPid="0x044fb67f" InputType="Axis" Index="2" InvertAxis="false" InnerDeadzone="0." OuterDeadzone="1.00" />
    <Value Version="1" Key="INPUTCMD_CLUTCH" VidPid="0x044fb67f" InputType="Axis" Index="3" InvertAxis="false" InnerDeadzone="0." OuterDeadzone="1.00" />
    <Value Version="1" Key="INPUTCMD_STEERING" VidPid="0x044fb67f" InputType="Axis" Index="0" InvertAxis="false" DeadzonesAroundCenter="false" InnerDeadzone="0.00" OuterDeadzone="1.00" />  
  </Context> 
  <Context Version="1" Context="INPUTCONTEXT_RACING_UI">
  </Context>

```

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

### OpenFFBoard Udev Rule for Linux

Source: https://github.com/ultrawipf/openffboard/wiki/Linux-FFB-setup

This udev rule sets the deadzone and fuzz to 0 for all axes when an OpenFFBoard is connected. Ensure the joyutils package is installed before applying.

```bash
SUBSYSTEM=="input", ATTRS{idVendor}=="1209", ATTRS{idProduct}=="ffb0", RUN+="/usr/bin/evdev-joystick --s '%E{DEVNAME}' --f 0 --d 0"
```

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

### Enable Optional ODrive Startup Calibrations

Source: https://github.com/ultrawipf/openffboard/wiki/Setup

Enable automatic motor and encoder offset calibration on startup for the ODrive.

```text
odrv0.axis0.config.startup_motor_calibration=True
```

```text
odrv0.axis0.config.startup_encoder_offset_calibration=True
```

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

### Reverse Steering Effects in rFactor 2 Config

Source: https://github.com/ultrawipf/openffboard/wiki/Games-setup

Modify the steering effects strength in the rFactor 2 controller configuration file to reverse FFB forces if necessary. This is a common fix for Linux/Proton and some Windows installations.

```json
"Steering effects strength":8000,
```

```json
"Steering effects strength":-8000,
```

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

### Verify Udev Rule Application

Source: https://github.com/ultrawipf/openffboard/wiki/Linux-FFB-setup

This command checks if the udev rule has been successfully applied by querying the joystick device. OpenFFBoard should report 0 for 'flatness' and 'fuzz' if the rule is active.

```bash
$ evdev-joystick --s /dev/input/by-id/usb-Open_FFBoard_FFBoard_*-event-joystick

  Absolute axis 0x00 (0) (X Axis) (value: 0, min: -32767, max: 32767, flatness: 0 (=0.00%), fuzz: 0)
  Absolute axis 0x01 (1) (Y Axis) (value: 0, min: -32767, max: 32767, flatness: 0 (=0.00%), fuzz: 0)
  Absolute axis 0x02 (2) (Z Axis) (value: 0, min: -32767, max: 32767, flatness: 0 (=0.00%), fuzz: 0)
  Absolute axis 0x03 (3) (X Rate Axis) (value: 0, min: -32767, max: 32767, flatness: 0 (=0.00%), fuzz: 0)
  Absolute axis 0x04 (4) (Y Rate Axis) (value: 0, min: -32767, max: 32767, flatness: 0 (=0.00%), fuzz: 0)
  Absolute axis 0x05 (5) (Z Rate Axis) (value: 0, min: -32767, max: 32767, flatness: 0 (=0.00%), fuzz: 0)
  Absolute axis 0x06 (6) (Throttle) (value: 0, min: -32767, max: 32767, flatness: 0 (=0.00%), fuzz: 0)
  Absolute axis 0x07 (7) (Rudder) (value: 0, min: -32767, max: 32767, flatness: 0 (=0.00%), fuzz: 0)
```

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

### OpenFFBoard actionmaps for EA WRC

Source: https://github.com/ultrawipf/openffboard/wiki/Games-setup

This XML configuration file, named openffboard.xml, should be placed in the EA SPORTS WRC input actionmaps directory to enable steering input.

```xml
<?xml version="1.0" encoding="utf-8"?>
<action_map name="openffboard" device_name="openffboard" library="lib_direct_input" version="2">
  <axis_map>
    <axis name="di_x_axis" direction_type="left_right" axis_set_name="device"/>
  </axis_map>
  <axis_defaults>
    <axis name="di_x_axis">
      <action deadzone="0" name="driving.steer.left" />
      <action deadzone="0" name="driving.steer.right" />
    </axis>
  </axis_defaults>
  <group name="driving">
    <group name="steer">
      <action name="left">
        <axis name="di_x_axis" type="lower" />
      </action>
      <action name="right">
        <axis name="di_x_axis" type="upper" />
      </action>
    </group>
  </group>
</action_map>
```

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

### Add OpenFFBoard to Dirt Rally 2.0 device_defines.xml

Source: https://github.com/ultrawipf/openffboard/wiki/Games-setup

This XML snippet should be added to the device_defines.xml file in Dirt Rally 2.0 to enable the OpenFFBoard device.

```xml
<device id="{FFB01209-0000-0000-0000-504944564944}" name="openffboard" priority="100" type="wheel" official="false" />
```

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

### Enable FFBoard Debug Mode and Select TMC Debug Bridge

Source: https://github.com/ultrawipf/openffboard/wiki/TMCL-IDE-debugging

Enable FFBoard debug mode and select the TMC debug bridge mainclass. This can be done via commands or by disconnecting the GUI and selecting the mainclass in the UI.

```tmcl
sys.debug=1;
sys.main=11;
```

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

### OpenFFBoard actionmaps for Dirt Rally 2.0

Source: https://github.com/ultrawipf/openffboard/wiki/Games-setup

This XML configuration file, named openffboard.xml, should be placed in the actionmaps folder for Dirt Rally 2.0 to map steering axes.

```xml
<?xml version="1.0" encoding="utf-8"?>
<action_map name="openffboard" device_name="openffboard" library="lib_direct_input">
  <axis_defaults>
    <axis name="di_x_axis">
    <action deadzone="0" name="driving.steer.left" />
    <action deadzone="0" name="driving.steer.right" />
    </axis>
  </axis_defaults>
  <group name="driving">
    <group name="steer">
      <action name="left">
       <axis name="di_x_axis" type="lower" />
      </action>
     <action name="right">
      <axis name="di_x_axis" type="upper" />
    </action>
  </group>
 </group>
</action_map>
```

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

### Configure ODrive for CAN Communication

Source: https://github.com/ultrawipf/openffboard/wiki/ODrive-guide

Set the CAN node ID and baud rate for ODrive to communicate with the OpenFFBoard USB interface. These settings must match the OpenFFBoard configurator.

```python
dev0.axis0.config.can.node_id = 0 
dev0.can.config.baud_rate = 500000
```

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

### Configure ODrive CAN Speed

Source: https://github.com/ultrawipf/openffboard/wiki/Setup

Set the CAN bus speed for ODrive communication. Ensure this matches the FFBoard's CAN speed.

```text
odrv0.can.config.baud_rate=500000
```

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

### Set ODrive to Torque Control Mode

Source: https://github.com/ultrawipf/openffboard/wiki/ODrive-guide

Ensure the ODrive is set to torque control mode for proper operation with OpenFFBoard. This is necessary because OpenFFBoard no longer automatically sets this mode.

```python
odrv0.axis0.controller.config.control_mode = CONTROL_MODE_TORQUE_CONTROL
```

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

### Configure ODrive Brake Resistor

Source: https://github.com/ultrawipf/openffboard/wiki/Setup

Set the resistance and enable the brake resistor for ODrive. The default resistance is 2 ohms.

```text
odrv0.config.brake_resistor0.resistance=2
```

```text
odrv0.config.brake_resistor0.enable=True
```

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

### Trigger Udev Rules

Source: https://github.com/ultrawipf/openffboard/wiki/Linux-FFB-setup

Command to trigger udev to apply rules to currently connected devices. Alternatively, unplugging and replugging the device will also apply the rules.

```bash
sudo udevadm trigger
```

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

### Configure Hoverboard Motor Parameters

Source: https://github.com/ultrawipf/openffboard/wiki/ODrive-guide

Set motor configuration parameters for hoverboard motors. Use datasheet values for different motor types.

```python
dev0.axis0.motor.config.pole_pairs = 15
dev0.axis0.motor.config.resistance_calib_max_voltage = 4
dev0.axis0.motor.config.current_control_bandwidth = 100
dev0.axis0.motor.config.torque_constant = 1
```

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

### Configure ODrive for ABN Encoder (S1)

Source: https://github.com/ultrawipf/openffboard/wiki/Setup

Set the encoder mode to ABN for the ODrive S1. This involves configuring both the load and commutation encoders.

```text
odrv0.axis0.config.load_encoder=EncoderId.INC_ENCODER0
```

```text
odrv0.axis0.config.commutation_encoder=EncoderId.INC_ENCODER0
```