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