From c65b1e9a7802d537e35bce8a67abdbf8c0d12493 Mon Sep 17 00:00:00 2001
From: Max <Hunt>
Date: Thu, 5 Nov 2020 17:15:45 +0000
Subject: [PATCH] Update

---
 odrive_controller.py | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/odrive_controller.py b/odrive_controller.py
index c07ad3b..3d010d5 100644
--- a/odrive_controller.py
+++ b/odrive_controller.py
@@ -7,7 +7,7 @@ from odrive.enums import (AXIS_STATE_IDLE,
                           INPUT_MODE_POS_FILTER)
 
 odrive_params = {
-    'current_lim': 10,  # A
+    'current_lim': 50,  # A
     'vel_lim': 60000,  # Rev/s
     'accel_lim': 1000000/1.2,
     'decel_lim': 1000000/1.2,
@@ -31,21 +31,21 @@ class Motors:
         self.params = params
         if odrive_sn:
             try:
-                self.odrive = odrive.find_any(serial_number=odrive_sn)
+                self.drive = odrive.find_any(serial_number=odrive_sn)
             except Exception as err:
                 logging.error(f"Encountered error: {err}")
         else:
-            self.odrive = odrive.find_any()
+            self.drive = odrive.find_any()
         self.enable_estop()
         self.set_parameters()
         logging.info(f"Odrive ready, voltage: {self.drive.vbus_voltage}V")
 
-    def digital_estop(self):
-        axis0 = self.odrive.axis0
-        axis1 = self.odrive.axis1
+    def digital_estop(self, *_):
+        axis0 = self.drive.axis0
+        axis1 = self.drive.axis1
         axis0.requested_state = AXIS_STATE_IDLE
         axis1.requested_state = AXIS_STATE_IDLE
-        logging.warn('Estop triggered, motors set to Idle')
+        logging.warning('Estop triggered, motors set to Idle')
 
     def enable_estop(self):
         signal.signal(signal.SIGINT, self.digital_estop)
@@ -61,7 +61,7 @@ class Motors:
             axis.trap_traj.config.vel_limit = self.params.get('vel_lim', 1)
             axis.trap_traj.config.accel_limit = self.params.get('accel_lim', 1)
             axis.trap_traj.config.decel_limit = self.params.get('decel_lim', 1)
-            axis.controller.config.input_filter_bandwidth = self.params.get('pos_filter', 2)
+            # axis.controller.config.input_filter_bandwidth = self.params.get('pos_filter', 2)
 
     def run_calibration(self):
         self.drive.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE