Python code to access ODRI (Open Dynamic Robot Initiative) brushless drivers using directly SPI from a raspberry pi board.
Activate SPI on raspberry pi using the raspi-config utility:
sudo raspi-config
Connect RPi to uDriver according to this table:
Signal | uDriver pin | Rpi 40 pin | Color |
---|---|---|---|
GND | 1 | 20 | Black |
MISO | 2 | 21 | White |
CLK | 3 | 23 | Grey |
CS | 4 | 22 | Violet |
MOSI | 5 | 19 | Blue |
Thomas Flayols
BSD 3-Clause License
Copyright (c) 2022, LAAS-CNRS