single.py

#!/usr/bin/env python3
import odrive
from odrive.enums import *

from UDPComms import Subscriber, timeout, Publisher
import time

import os
if os.geteuid() != 0:
    exit("You need to have root privileges to run this script.\nPlease try again, this time using 'sudo'. Exiting.")

a = Subscriber(8830, timeout = 0.3)
odom = Publisher(8820)

print("finding any odrives...")
odrive = odrive.find_any()
print("found an odrive (random)")

odrive.axis0.requested_state = AXIS_STATE_IDLE
odrive.axis1.requested_state = AXIS_STATE_IDLE

while True:
    try:
        msg = a.get()
        print(msg)
        odom.send([odrive.axis0.encoder.pos_estimate / odrive.axis0.encoder.config.cpr, 
                - odrive.axis1.encoder.pos_estimate / odrive.axis1.encoder.config.cpr])

        if (msg['t'] == 0 and msg['f'] == 0):
            odrive.axis0.requested_state = AXIS_STATE_IDLE
            odrive.axis1.requested_state = AXIS_STATE_IDLE
        else:
            odrive.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
            odrive.axis1.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL

            odrive.axis0.controller.vel_setpoint = (msg['f'] + msg['t'])
            odrive.axis1.controller.vel_setpoint = -(msg['f'] - msg['t'])
    except timeout:
        odrive.axis0.requested_state = AXIS_STATE_IDLE
        odrive.axis1.requested_state = AXIS_STATE_IDLE
        odrive.axis0.controller.vel_setpoint = 0
        odrive.axis1.controller.vel_setpoint = 0
    except:
        odrive.axis0.requested_state = AXIS_STATE_IDLE
        odrive.axis1.requested_state = AXIS_STATE_IDLE
        odrive.axis0.controller.vel_setpoint = 0
        odrive.axis1.controller.vel_setpoint = 0
        raise