GPIO_MODE_DIGITAL = 0 GPIO_MODE_DIGITAL_PULL_UP = 1 GPIO_MODE_DIGITAL_PULL_DOWN = 2 GPIO_MODE_ANALOG_IN = 3 GPIO_MODE_UART_A = 4 GPIO_MODE_UART_B = 5 GPIO_MODE_UART_C = 6 GPIO_MODE_CAN_A = 7 GPIO_MODE_I2C_A = 8 GPIO_MODE_SPI_A = 9 GPIO_MODE_PWM = 10 GPIO_MODE_ENC0 = 11 GPIO_MODE_ENC1 = 12 GPIO_MODE_ENC2 = 13 GPIO_MODE_MECH_BRAKE = 14 GPIO_MODE_STATUS = 15 GPIO_MODE_BRAKE_RES = 16
STREAM_PROTOCOL_TYPE_FIBRE = 0 STREAM_PROTOCOL_TYPE_ASCII = 1 STREAM_PROTOCOL_TYPE_STDOUT = 2 STREAM_PROTOCOL_TYPE_ASCII_AND_STDOUT = 3
PROTOCOL_SIMPLE = 0x00000001
AXIS_STATE_UNDEFINED = 0 AXIS_STATE_IDLE = 1 AXIS_STATE_STARTUP_SEQUENCE = 2 AXIS_STATE_FULL_CALIBRATION_SEQUENCE = 3 AXIS_STATE_MOTOR_CALIBRATION = 4 AXIS_STATE_ENCODER_INDEX_SEARCH = 6 AXIS_STATE_ENCODER_OFFSET_CALIBRATION = 7 AXIS_STATE_CLOSED_LOOP_CONTROL = 8 AXIS_STATE_LOCKIN_SPIN = 9 AXIS_STATE_ENCODER_DIR_FIND = 10 AXIS_STATE_HOMING = 11 AXIS_STATE_ENCODER_HALL_POLARITY_CALIBRATION = 12 AXIS_STATE_ENCODER_HALL_PHASE_CALIBRATION = 13
ENCODER_MODE_INCREMENTAL = 0 ENCODER_MODE_HALL = 1 ENCODER_MODE_SINCOS = 2 ENCODER_MODE_SPI_ABS_CUI = 256 ENCODER_MODE_SPI_ABS_AMS = 257 ENCODER_MODE_SPI_ABS_AEAT = 258 ENCODER_MODE_SPI_ABS_RLS = 259 ENCODER_MODE_SPI_ABS_MA732 = 260
CONTROL_MODE_VOLTAGE_CONTROL = 0 CONTROL_MODE_TORQUE_CONTROL = 1 CONTROL_MODE_VELOCITY_CONTROL = 2 CONTROL_MODE_POSITION_CONTROL = 3
INPUT_MODE_INACTIVE = 0 INPUT_MODE_PASSTHROUGH = 1 INPUT_MODE_VEL_RAMP = 2 INPUT_MODE_POS_FILTER = 3 INPUT_MODE_MIX_CHANNELS = 4 INPUT_MODE_TRAP_TRAJ = 5 INPUT_MODE_TORQUE_RAMP = 6 INPUT_MODE_MIRROR = 7 INPUT_MODE_TUNING = 8
MOTOR_TYPE_HIGH_CURRENT = 0 MOTOR_TYPE_GIMBAL = 2 MOTOR_TYPE_ACIM = 3
ODRIVE_ERROR_NONE = 0x00000000 ODRIVE_ERROR_CONTROL_ITERATION_MISSED = 0x00000001 ODRIVE_ERROR_DC_BUS_UNDER_VOLTAGE = 0x00000002 ODRIVE_ERROR_DC_BUS_OVER_VOLTAGE = 0x00000004 ODRIVE_ERROR_DC_BUS_OVER_REGEN_CURRENT = 0x00000008 ODRIVE_ERROR_DC_BUS_OVER_CURRENT = 0x00000010 ODRIVE_ERROR_BRAKE_DEADTIME_VIOLATION = 0x00000020 ODRIVE_ERROR_BRAKE_DUTY_CYCLE_NAN = 0x00000040 ODRIVE_ERROR_INVALID_BRAKE_RESISTANCE = 0x00000080
CAN_ERROR_NONE = 0x00000000 CAN_ERROR_DUPLICATE_CAN_IDS = 0x00000001
AXIS_ERROR_NONE = 0x00000000 AXIS_ERROR_INVALID_STATE = 0x00000001 AXIS_ERROR_WATCHDOG_TIMER_EXPIRED = 0x00000800 AXIS_ERROR_MIN_ENDSTOP_PRESSED = 0x00001000 AXIS_ERROR_MAX_ENDSTOP_PRESSED = 0x00002000 AXIS_ERROR_ESTOP_REQUESTED = 0x00004000 AXIS_ERROR_HOMING_WITHOUT_ENDSTOP = 0x00020000 AXIS_ERROR_OVER_TEMP = 0x00040000 AXIS_ERROR_UNKNOWN_POSITION = 0x00080000
MOTOR_ERROR_NONE = 0x00000000 MOTOR_ERROR_PHASE_RESISTANCE_OUT_OF_RANGE = 0x00000001 MOTOR_ERROR_PHASE_INDUCTANCE_OUT_OF_RANGE = 0x00000002 MOTOR_ERROR_DRV_FAULT = 0x00000008 MOTOR_ERROR_CONTROL_DEADLINE_MISSED = 0x00000010 MOTOR_ERROR_MODULATION_MAGNITUDE = 0x00000080 MOTOR_ERROR_CURRENT_SENSE_SATURATION = 0x00000400 MOTOR_ERROR_CURRENT_LIMIT_VIOLATION = 0x00001000 MOTOR_ERROR_MODULATION_IS_NAN = 0x00010000 MOTOR_ERROR_MOTOR_THERMISTOR_OVER_TEMP = 0x00020000 MOTOR_ERROR_FET_THERMISTOR_OVER_TEMP = 0x00040000 MOTOR_ERROR_TIMER_UPDATE_MISSED = 0x00080000 MOTOR_ERROR_CURRENT_MEASUREMENT_UNAVAILABLE = 0x00100000 MOTOR_ERROR_CONTROLLER_FAILED = 0x00200000 MOTOR_ERROR_I_BUS_OUT_OF_RANGE = 0x00400000 MOTOR_ERROR_BRAKE_RESISTOR_DISARMED = 0x00800000 MOTOR_ERROR_SYSTEM_LEVEL = 0x01000000 MOTOR_ERROR_BAD_TIMING = 0x02000000 MOTOR_ERROR_UNKNOWN_PHASE_ESTIMATE = 0x04000000 MOTOR_ERROR_UNKNOWN_PHASE_VEL = 0x08000000 MOTOR_ERROR_UNKNOWN_TORQUE = 0x10000000 MOTOR_ERROR_UNKNOWN_CURRENT_COMMAND = 0x20000000 MOTOR_ERROR_UNKNOWN_CURRENT_MEASUREMENT = 0x40000000 MOTOR_ERROR_UNKNOWN_VBUS_VOLTAGE = 0x80000000 MOTOR_ERROR_UNKNOWN_VOLTAGE_COMMAND = 0x100000000 MOTOR_ERROR_UNKNOWN_GAINS = 0x200000000 MOTOR_ERROR_CONTROLLER_INITIALIZING = 0x400000000 MOTOR_ERROR_UNBALANCED_PHASES = 0x800000000
CONTROLLER_ERROR_NONE = 0x00000000 CONTROLLER_ERROR_OVERSPEED = 0x00000001 CONTROLLER_ERROR_INVALID_INPUT_MODE = 0x00000002 CONTROLLER_ERROR_UNSTABLE_GAIN = 0x00000004 CONTROLLER_ERROR_INVALID_MIRROR_AXIS = 0x00000008 CONTROLLER_ERROR_INVALID_LOAD_ENCODER = 0x00000010 CONTROLLER_ERROR_INVALID_ESTIMATE = 0x00000020
ENCODER_ERROR_NONE = 0x00000000 ENCODER_ERROR_UNSTABLE_GAIN = 0x00000001 ENCODER_ERROR_CPR_POLEPAIRS_MISMATCH = 0x00000002 ENCODER_ERROR_NO_RESPONSE = 0x00000004 ENCODER_ERROR_UNSUPPORTED_ENCODER_MODE = 0x00000008 ENCODER_ERROR_ILLEGAL_HALL_STATE = 0x00000010 ENCODER_ERROR_INDEX_NOT_FOUND_YET = 0x00000020 ENCODER_ERROR_ABS_SPI_TIMEOUT = 0x00000040 ENCODER_ERROR_ABS_SPI_COM_FAIL = 0x00000080 ENCODER_ERROR_ABS_SPI_NOT_READY = 0x00000100 ENCODER_ERROR_HALL_NOT_CALIBRATED_YET = 0x00000200
SENSORLESS_ESTIMATOR_ERROR_NONE = 0x00000000 SENSORLESS_ESTIMATOR_ERROR_UNSTABLE_GAIN = 0x00000001 SENSORLESS_ESTIMATOR_ERROR_UNKNOWN_CURRENT_MEASUREMENT = 0x00000002