moteus 0.3.54__py3-none-any.whl → 0.3.56__py3-none-any.whl

moteus/moteus_tool.py

@@ -754,9 +754,13 @@ class Stream:
         if await self.is_config_supported("motor.unwrapped_position_scale"):
             unwrapped_position_scale = \
                 await self.read_config_double("motor.unwrapped_position_scale")
+            motor_output_sign = 1.0
         elif await self.is_config_supported("motor_position.rotor_to_output_ratio"):
             unwrapped_position_scale = \
                 await self.read_config_double("motor_position.rotor_to_output_ratio")
+            motor_output_sign = \
+                await self.read_config_double("motor_position.output.sign")
+
 
         if await self.is_config_supported("servo.pwm_rate_hz"):
             pwm_rate_hz = await self.read_config_double("servo.pwm_rate_hz")
@@ -820,7 +824,7 @@ class Stream:
         await self.check_for_fault()
 
         v_per_hz = await self.calibrate_kv_rating(
-            input_V, unwrapped_position_scale)
+            input_V, unwrapped_position_scale, motor_output_sign)
         await self.check_for_fault()
 
         # Rezero the servo since we just spun it a lot.
@@ -852,7 +856,8 @@ class Stream:
             # We measure voltage to the center, not peak-to-peak, thus
             # the extra 0.5.
             'kv' : (0.5 * 60.0 / v_per_hz),
-            'unwrapped_position_scale' : unwrapped_position_scale
+            'unwrapped_position_scale' : unwrapped_position_scale,
+            'motor_position_output_sign' : motor_output_sign,
         }
 
         log_filename = f"moteus-cal-{device_info['serial_number']}-{now.strftime('%Y%m%dT%H%M%S.%f')}.log"
@@ -1306,40 +1311,54 @@ class Stream:
         print()
         return maybe_result
 
-    async def calibrate_kv_rating(self, input_V, unwrapped_position_scale):
-        print("Calculating Kv rating")
+    async def calibrate_kv_rating(self, input_V, unwrapped_position_scale,
+                                  motor_output_sign):
+        if self.args.cal_force_kv is None:
+            print("Calculating Kv rating")
+
+            await self.ensure_valid_theta(self.encoder_cal_voltage)
 
-        await self.ensure_valid_theta(self.encoder_cal_voltage)
+            original_position_min = await self.read_config_double("servopos.position_min")
+            original_position_max = await self.read_config_double("servopos.position_max")
 
-        original_position_min = await self.read_config_double("servopos.position_min")
-        original_position_max = await self.read_config_double("servopos.position_max")
+            await self.command("conf set servopos.position_min NaN")
+            await self.command("conf set servopos.position_max NaN")
+            await self.command("d index 0")
 
-        await self.command("conf set servopos.position_min NaN")
-        await self.command("conf set servopos.position_max NaN")
-        await self.command("d index 0")
+            kv_cal_voltage = await self.find_kv_cal_voltage(input_V, unwrapped_position_scale)
+            await self.stop_and_idle()
 
-        kv_cal_voltage = await self.find_kv_cal_voltage(input_V, unwrapped_position_scale)
-        await self.stop_and_idle()
+            voltages = [x * kv_cal_voltage for x in [
+                0.0, 0.25, 0.5, 0.75, 1.0 ]]
+            speed_hzs = [ await self.find_speed_and_print(voltage, sleep_time=2)
+                          for voltage in voltages]
 
-        voltages = [x * kv_cal_voltage for x in [
-            0.0, 0.25, 0.5, 0.75, 1.0 ]]
-        speed_hzs = [ await self.find_speed_and_print(voltage, sleep_time=2)
-                      for voltage in voltages]
+            await self.stop_and_idle()
 
-        await self.stop_and_idle()
+            await asyncio.sleep(0.5)
 
-        await asyncio.sleep(0.5)
+            geared_v_per_hz = 1.0 / _calculate_slope(voltages, speed_hzs)
 
-        geared_v_per_hz = 1.0 / _calculate_slope(voltages, speed_hzs)
+            v_per_hz = (geared_v_per_hz *
+                        unwrapped_position_scale *
+                        motor_output_sign)
+            print(f"v_per_hz (pre-gearbox)={v_per_hz}")
 
-        v_per_hz = geared_v_per_hz * unwrapped_position_scale
-        print(f"v_per_hz (pre-gearbox)={v_per_hz}")
+            await self.command(f"conf set servopos.position_min {original_position_min}")
+            await self.command(f"conf set servopos.position_max {original_position_max}")
+
+            if v_per_hz < 0.0:
+                raise RuntimeError(
+                    f"v_per_hz measured as negative ({v_per_hz}), something wrong")
+        else:
+            v_per_hz = (0.5 * 60 / self.args.cal_force_kv)
+            print(f"Using forced Kv: {self.args.cal_force_kv}  v_per_hz={v_per_hz}")
 
         if not self.args.cal_no_update:
             await self.command(f"conf set motor.v_per_hz {v_per_hz}")
 
-        await self.command(f"conf set servopos.position_min {original_position_min}")
-        await self.command(f"conf set servopos.position_max {original_position_max}")
+        if v_per_hz < 0:
+            raise RuntimeError(f'v_per_hz value ({v_per_hz}) is negative')
 
         return v_per_hz
 
@@ -1623,6 +1642,9 @@ async def async_main():
     parser.add_argument('--cal-motor-poles', metavar='N', type=int,
                         default=None,
                         help='number of motor poles (2x pole pairs)')
+    parser.add_argument('--cal-force-kv', metavar='Kv', type=float,
+                        default=None,
+                        help='do not calibrate Kv, but use the specified value')
 
 
     parser.add_argument('--cal-max-remainder', metavar='F',

moteus/version.py

@@ -12,4 +12,4 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-VERSION="0.3.54"
+VERSION="0.3.56"

{moteus-0.3.54.dist-info → moteus-0.3.56.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: moteus
-Version: 0.3.54
+Version: 0.3.56
 Summary: moteus brushless controller library and tools
 Home-page: https://github.com/mjbots/moteus
 Author: mjbots Robotic Systems

{moteus-0.3.54.dist-info → moteus-0.3.56.dist-info}/RECORD

@@ -6,7 +6,7 @@ moteus/command.py,sha256=YEtDNXX-TlkUSElsGVQoSYbGqcboneNEejZo06v8ZsI,1128
 moteus/export.py,sha256=dI8QjdqrcI3pi5fKfP25PwLvsIlVJ695x0ta0PVMKx8,1628
 moteus/fdcanusb.py,sha256=AMwqdvIRz4X9yA4qz8REuyFBfs3OcLcVqbGX28sEx4s,6729
 moteus/moteus.py,sha256=W-ADEI1uAHF0j5A3s1CINTUYpwjEgO-xPRQS15C9Ewg,43410
-moteus/moteus_tool.py,sha256=n7DTaO17qX1Tz4OjbJG8KS7OFTwISd9HvCAPig9MsBM,65158
+moteus/moteus_tool.py,sha256=WPpXvLwD9bJaWZY8LVygzFrmT7diN0HXMVZ_nUSfp9k,66231
 moteus/multiplex.py,sha256=0Hs63pFZpl1y7ciTcwEeg8F2JDjlhrkb2FcfUbdox-g,9637
 moteus/posix_aioserial.py,sha256=3JFiY5p4dtC2ztg6N5SOffnNk9lNcjie02yjD3UlJWo,2971
 moteus/pythoncan.py,sha256=lawewmkd9zQuE-Z1LurmpFD2iSWATei65SZb42um_Vg,3309
@@ -14,10 +14,10 @@ moteus/reader.py,sha256=jGADQTmONSBMQ25I5AqXELLqil2TEha1KjraPdOsf78,11932
 moteus/regression.py,sha256=wpPlxAZ9nC9kfv0oX1K9W2AZNnBLbY8htAJz60SxIb8,1183
 moteus/router.py,sha256=k4Tf6hWtHSgzznmdnj4NySe84-y9feYRxGz0yTrJtoc,2043
 moteus/transport.py,sha256=3asI2A87eQDImLP74LNLtETaShQRiD9RuCjlxNY6AlE,1003
-moteus/version.py,sha256=jmm_-XvCr1X4UYMgpel9H6m6QGgp-Q9okhEFMeGSxRs,609
+moteus/version.py,sha256=6IePxRuf-dHbF45uc1W5kTJba8U8rF7AWW44ngo7bEY,609
 moteus/win32_aioserial.py,sha256=SZsnoBWE0Uwo4ZZF8ALB1WNPRY9NiaCOBz6VfvVcnxA,1841
-moteus-0.3.54.dist-info/METADATA,sha256=vgKZ2vzI5vAuCnC_GYt7naPzRGZKHa2q8o5H6M_an6U,3417
-moteus-0.3.54.dist-info/WHEEL,sha256=G16H4A3IeoQmnOrYV4ueZGKSjhipXx8zc8nu9FGlvMA,92
-moteus-0.3.54.dist-info/entry_points.txt,sha256=indCsEML1fmtWJU1WiV-d7UmmTaAMhyBLEc1iiKnexQ,57
-moteus-0.3.54.dist-info/top_level.txt,sha256=aZzmI_yecTaDrdSp29pTJuowaSQ9dlIZheQpshGg4YQ,7
-moteus-0.3.54.dist-info/RECORD,,
+moteus-0.3.56.dist-info/METADATA,sha256=rztYCXjyhVOwKH0uVEQf7Xp2zuD6C0kexA4CXIMVUgo,3417
+moteus-0.3.56.dist-info/WHEEL,sha256=G16H4A3IeoQmnOrYV4ueZGKSjhipXx8zc8nu9FGlvMA,92
+moteus-0.3.56.dist-info/entry_points.txt,sha256=indCsEML1fmtWJU1WiV-d7UmmTaAMhyBLEc1iiKnexQ,57
+moteus-0.3.56.dist-info/top_level.txt,sha256=aZzmI_yecTaDrdSp29pTJuowaSQ9dlIZheQpshGg4YQ,7
+moteus-0.3.56.dist-info/RECORD,,