example

# ODrive ASCII Example

This example demonstrates how to use the `espp::OdriveAscii` component to process ODrive-compatible ASCII commands. It first runs a scripted test, then enters an interactive console mode so you can send commands from a serial terminal or Python.

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**Table of Contents**

- [ODrive ASCII Example](#odrive-ascii-example)
  - [Requirements](#requirements)
  - [Build](#build)
  - [Flash and Monitor](#flash-and-monitor)
  - [Example Output](#example-output)
  - [Interactive Usage](#interactive-usage)
  - [Notes](#notes)

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## Requirements

- ESP-IDF installed and `get_idf` available in your shell
- A serial connection to the ESP target (USB Serial/JTAG or UART0)

## Build

```sh
# From repo root
cd components/odrive_ascii/example
get_idf
idf.py build
```

## Flash and Monitor

```sh
idf.py flash monitor
```

The example will:
- Run a scripted test sequence
- Enter interactive mode reading from stdin and writing responses to stdout

## Example Output

<img width="719" height="204" alt="CleanShot 2025-09-15 at 09 37 01" src="https://github.com/user-attachments/assets/92bfaa85-7ac7-433e-8584-48c6f520d107" />

## Interactive Usage

Open a serial terminal or use Python to send commands:

```python
import serial
ser = serial.Serial('/dev/ttyUSB0', 115200, timeout=0.5)

# Reads
ser.write(b'r axis0.encoder.pos_estimate\n'); print(ser.readline())
ser.write(b'r axis0.encoder.vel_estimate\n'); print(ser.readline())

# Writes
ser.write(b'w axis0.controller.input_pos 12.34\n'); print(ser.readline())

# High-rate commands
ser.write(b'p 0 1.0 0.5 0.1\n'); print(ser.readline())    # position with feedforward
ser.write(b'v 0 2.0 0.2\n'); print(ser.readline())        # velocity with torque_ff
ser.write(b'c 0 0.25\n'); print(ser.readline())           # torque (Nm)
ser.write(b't 0 10.0\n'); print(ser.readline())           # trajectory goal (turns)
ser.write(b'f 0\n'); print(ser.readline())                # feedback: "<pos> <vel>\n"
ser.write(b'es 0 0.0\n'); print(ser.readline())           # set encoder abs pos
```

## Notes

- For full odrivetool auto-discovery you would need to implement Fibre (not covered here).