From dda876cee0b118589e1b56e7e51022cb54789e00 Mon Sep 17 00:00:00 2001
From: SimonR99 <simonroy99@hotmail.ca>
Date: Sun, 9 Jun 2024 00:49:51 -0400
Subject: [PATCH] add usb debug

---
 src/rove_bringup/src/rove_controller_node.cpp | 14 -----------
 test.py => utils/odrive_can_test.py           |  0
 utils/odrive_usb_debug.py                     | 24 +++++++++++++++++++
 3 files changed, 24 insertions(+), 14 deletions(-)
 rename test.py => utils/odrive_can_test.py (100%)
 create mode 100644 utils/odrive_usb_debug.py

diff --git a/src/rove_bringup/src/rove_controller_node.cpp b/src/rove_bringup/src/rove_controller_node.cpp
index 7ea6902..3086ea0 100644
--- a/src/rove_bringup/src/rove_controller_node.cpp
+++ b/src/rove_bringup/src/rove_controller_node.cpp
@@ -45,7 +45,6 @@ class RoveController : public rclcpp::Node {
         // cmd_vel_sub_ = create_subscription<geometry_msgs::msg::Twist>("/cmd_vel", 1, std::bind(&RoveController::cmdvelCallback, this, std::placeholders::_1));
 
         joy_pub_ = create_publisher<sensor_msgs::msg::Joy>("/rove/joy", 1);
-        // cmd_vel_stamped_pub_ = create_publisher<geometry_msgs::msg::TwistStamped>("/diff_drive_controller/cmd_vel", 1);
 
         // auto x = create_wall_timer(
         //     std::chrono::milliseconds(1000/20), std::bind(&RoveController::cmdvelTimerCallback, this, std::placeholders::_1)
@@ -145,22 +144,9 @@ class RoveController : public rclcpp::Node {
         previous_msg_ = *joy_msg;
     }
 
-    // void cmdvelCallback(const geometry_msgs::msg::Twist::SharedPtr cmd_vel_msg) {
-    //     cmd_vel_msg_ = *cmd_vel_msg;
-    //     cmd_vel_stamped_msg_.twist = cmd_vel_msg_;
-    //     auto header = std_msgs::msg::Header();
-    //     header.stamp = this->get_clock()->now();
-    //     cmd_vel_stamped_msg_.header = header;
-    // }
-
-    // void cmdvelTimerCallback() {
-    //     cmd_vel_stamped_pub_->publish(cmd_vel_stamped_msg_);
-    // }
-
     rclcpp::Subscription<sensor_msgs::msg::Joy>::SharedPtr joy_sub_;
     // rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr cmd_vel_sub_;
     rclcpp::Publisher<sensor_msgs::msg::Joy>::SharedPtr joy_pub_;
-    // rclcpp::Publisher<geometry_msgs::msg::TwistStamped>::SharedPtr cmd_vel_stamped_pub_;
     sensor_msgs::msg::Joy previous_msg_; 
     sensor_msgs::msg::Joy teleop_msg_;
     // geometry_msgs::msg::Twist cmd_vel_msg_;
diff --git a/test.py b/utils/odrive_can_test.py
similarity index 100%
rename from test.py
rename to utils/odrive_can_test.py
diff --git a/utils/odrive_usb_debug.py b/utils/odrive_usb_debug.py
new file mode 100644
index 0000000..d52adbb
--- /dev/null
+++ b/utils/odrive_usb_debug.py
@@ -0,0 +1,24 @@
+import odrive
+import time
+import math
+from odrive.enums import *
+
+
+odrv0 = odrive.find_any()
+odrv = odrv0
+
+#odrv.axis0.controller.config.spinout_electrical_power_threshold = 1000
+#odrv.axis0.controller.config.spinout_mechanical_power_threshold = -1000
+#odrv.axis0.config.can.error_msg_rate_ms = 100
+#odrv.axis0.config.can.node_id = 21
+#odrv.axis0.config.enable_watchdog = True
+
+print(odrv.axis0.config.can.node_id)
+print(odrv.axis0.config.enable_watchdog)
+print(odrv.axis0.config.watchdog_timeout)
+print(odrive.utils.dump_errors(odrv0))
+print(odrv.axis0.disarm_reason)
+print(odrv.axis0.active_errors)
+
+#odrv.axis0.config.can.node_id = 0
+#odrv.save_configuration()
\ No newline at end of file