moteus 0.3.56__py3-none-any.whl → 0.3.58__py3-none-any.whl

moteus/command.py

@@ -19,6 +19,7 @@ class Command():
     reply_required = False
     data = b''
     can_prefix = 0x0000  # a 13 bit CAN prefix
+    expected_reply_size = 0
 
     # If True, then the following parameters are used directly instead
     # of being calculated from destination and source (i.e. for

moteus/moteus.py

@@ -606,7 +606,7 @@ class Controller:
         self._can_prefix = can_prefix
 
         # Pre-compute our query string.
-        self._query_data = self._make_query_data()
+        self._query_data, self._default_query_reply_size = self._make_query_data()
 
     def _get_transport(self):
         if self.transport:
@@ -618,6 +618,8 @@ class Controller:
         return self.transport
 
     def _make_query_data(self):
+        expected_reply_size = 0
+
         buf = io.BytesIO()
         writer = Writer(buf)
         qr = self.query_resolution
@@ -633,6 +635,8 @@ class Controller:
         for i in range(c1.size()):
             c1.maybe_write()
 
+        expected_reply_size += c1.reply_size
+
         c2 = mp.WriteCombiner(writer, 0x10, int(Register.MOTOR_TEMPERATURE), [
             qr.motor_temperature,
             qr.trajectory_complete,
@@ -644,6 +648,8 @@ class Controller:
         for i in range(c2.size()):
             c2.maybe_write()
 
+        expected_reply_size += c2.reply_size
+
         c3 = mp.WriteCombiner(writer, 0x10, int(Register.AUX1_GPIO_STATUS), [
             qr.aux1_gpio,
             qr.aux2_gpio,
@@ -651,6 +657,8 @@ class Controller:
         for i in range(c3.size()):
             c3.maybe_write()
 
+        expected_reply_size += c3.reply_size
+
         if len(qr._extra):
             min_val = int(min(qr._extra.keys()))
             max_val = int(max(qr._extra.keys()))
@@ -660,8 +668,9 @@ class Controller:
                  for i in range(min_val, max_val +1)])
             for _ in range(c4.size()):
                 c4.maybe_write()
+            expected_reply_size += c4.reply_size
 
-        return buf.getvalue()
+        return buf.getvalue(), expected_reply_size
 
     def _make_command(self, *, query, source=0):
         result = cmd.Command()
@@ -671,6 +680,7 @@ class Controller:
         result.reply_required = query
         result.parse = self._parser
         result.can_prefix = self._can_prefix
+        result.expected_reply_size = self._default_query_reply_size if query else 0
 
         return result
 
@@ -702,6 +712,7 @@ class Controller:
             c.maybe_write()
 
         result.data = buf.getvalue()
+        result.expected_reply_size = c.reply_size
         return result
 
     async def custom_query(self, *args, **kwargs):
@@ -1157,6 +1168,7 @@ class Controller:
         result.parse = make_diagnostic_parser(self.id, channel)
 
         result.data = data_buf.getvalue()
+        result.expected_reply_size = 3 + max_length
         return result
 
     async def diagnostic_read(self, *args, **kwargs):

moteus/moteus_tool.py

@@ -801,11 +801,9 @@ class Stream:
             input_V, winding_resistance)
         await self.check_for_fault()
 
-        # We use a larger voltage for inductance measurement to get a
-        # more accurate value.  Since we switch back and forth at a
-        # high rate, this doesn't actually use all that much power no
-        # matter what we choose.
-        inductance = await self.calibrate_inductance(2.0 * resistance_cal_voltage)
+        # Determine our inductance.
+        inductance = await self.calibrate_inductance(
+            resistance_cal_voltage, winding_resistance)
         await self.check_for_fault()
 
         kp, ki, torque_bw_hz = None, None, None
@@ -820,7 +818,8 @@ class Stream:
             await self.check_for_fault()
 
         enc_kp, enc_ki, enc_bw_hz = await self.set_encoder_filter(
-            torque_bw_hz, control_rate_hz=control_rate_hz)
+            torque_bw_hz, inductance,
+            control_rate_hz=control_rate_hz)
         await self.check_for_fault()
 
         v_per_hz = await self.calibrate_kv_rating(
@@ -1119,12 +1118,25 @@ class Stream:
 
         return winding_resistance
 
-    async def calibrate_inductance(self, cal_voltage):
+    async def calibrate_inductance(self, cal_voltage, winding_resistance):
         print("Calculating motor inductance")
 
         try:
+            # High winding resistance motors typically have a much
+            # larger inductance, and therefore need a longer
+            # inductance period.  We still need to keep this low for
+            # low resistance/inductance motors, otherwise we can have
+            # excessive peak currents during the measurement process.
+
+            # For phase resistances of 0.2 ohm or less, stick with 8
+            # cycles, which for a 15kHz pwm rate would equal ~0.6ms of
+            # on time.  Increase that as phase resistance increases,
+            # until it maxes at 32/2ms around 0.8 ohms of phase
+            # resistance.
+            ind_period = max(8, min(32, int(winding_resistance / 0.2)))
+
             await asyncio.wait_for(
-                self.command(f"d ind {cal_voltage} 4"), 0.25)
+                self.command(f"d ind {cal_voltage} {ind_period}"), 0.25)
         except moteus.CommandError as e:
             # It is possible this is an old firmware that does not
             # support inductance measurement.
@@ -1152,7 +1164,7 @@ class Stream:
         print(f"Calculated inductance: {inductance}H")
         return inductance
 
-    async def set_encoder_filter(self, torque_bw_hz, control_rate_hz = None):
+    async def set_encoder_filter(self, torque_bw_hz, inductance, control_rate_hz = None):
         # Check to see if our firmware supports encoder filtering.
         motor_position_style = await self.is_config_supported("motor_position.sources.0.pll_filter_hz")
         servo_style = await self.is_config_supported("servo.encoder_filter.enabled")
@@ -1162,18 +1174,17 @@ class Stream:
         if self.args.encoder_bw_hz:
             desired_encoder_bw_hz = self.args.encoder_bw_hz
         else:
-            if self.args.cal_hall:
-                # Hall effect configurations require a low encoder BW
-                # if the hall effects are also used for position and
-                # velocity control.  Since that is one of the most
-                # common ways of using hall effects, we by default cap
-                # the bw at 20Hz and use a lower one if the torque bw
-                # would otherwise have been lower.
-                desired_encoder_bw_hz = min(20, 2 * torque_bw_hz)
-            else:
-                # We default to an encoder bandwidth of 50Hz, or 2x the
-                # torque bw, whichever is larger.
-                desired_encoder_bw_hz = max(50, 2 * torque_bw_hz)
+            # Don't let the encoder bandwidth be less than 10Hz by default.
+            desired_encoder_bw_hz = max(10, 2 * torque_bw_hz)
+
+            # However, we limit the maximum encoder bandwidth for high
+            # inductance motors, because they shouldn't be able to
+            # accelerate that fast anyways.
+            if inductance:
+                # This is just a random constant that seems to work
+                # well in practice.
+                desired_encoder_bw_hz = min(
+                    desired_encoder_bw_hz, 2e-2 / inductance)
 
         # And our bandwidth with the filter can be no larger than
         # 1/10th the control rate.
@@ -1192,7 +1203,8 @@ class Stream:
             await self.command(f"conf set servo.encoder_filter.kp {kp}")
             await self.command(f"conf set servo.encoder_filter.ki {ki}")
         elif motor_position_style:
-            await self.command(f"conf set motor_position.sources.0.pll_filter_hz {encoder_bw_hz}")
+            commutation_source = await self.read_config_int("motor_position.commutation_source")
+            await self.command(f"conf set motor_position.sources.{commutation_source}.pll_filter_hz {encoder_bw_hz}")
         else:
             assert False
         return kp, ki, encoder_bw_hz

moteus/multiplex.py

@@ -244,21 +244,30 @@ class WriteFrame:
 
     def __init__(self, buf):
         self._buf = buf
+        self._size = 0
+
+    def size(self):
+        return self._size
 
     def write(self, value, resolution):
         self._buf.write(TYPES[resolution].pack(value))
+        self._size += TYPES[resolution].size
 
     def write_int8(self, value):
         self._buf.write(TYPES[INT8].pack(value))
+        self._size += 1
 
     def write_int16(self, value):
         self._buf.write(TYPES[INT16].pack(value))
+        self._size += 2
 
     def write_int32(self, value):
         self._buf.write(TYPES[INT32].pack(value))
+        self._size += 4
 
     def write_f32(self, value):
         self._buf.write(TYPES[F32].pack(value))
+        self._size += 4
 
     def write_varuint(self, value):
         while True:
@@ -266,6 +275,7 @@ class WriteFrame:
             value >>= 7
             this_byte |= 0x80 if value else 0x00
             self._buf.write(bytes([this_byte]))
+            self._size += 1
 
             if value == 0:
                 break
@@ -286,6 +296,7 @@ class WriteCombiner:
         self.base_command = base_command
         self.start_register = start_register
         self.resolutions = resolutions
+        self.reply_size = 0
         self._offset = 0
         self._current_resolution = -1
 
@@ -320,6 +331,8 @@ class WriteCombiner:
 
         write_command = [0x00, 0x04, 0x08, 0x0c][new_resolution] | self.base_command
 
+        start_size = self.writer.size()
+
         if count <= 3:
             # Use the shorthand formulation.
             self.writer.write_int8(write_command + count)
@@ -329,4 +342,10 @@ class WriteCombiner:
             self.writer.write_int8(count)
 
         self.writer.write_varuint(self.start_register + this_offset)
+
+        end_size = self.writer.size()
+
+        self.reply_size += end_size - start_size
+        self.reply_size += count * resolution_size(new_resolution)
+
         return True

moteus/version.py

@@ -12,4 +12,4 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-VERSION="0.3.56"
+VERSION="0.3.58"

{moteus-0.3.56.dist-info → moteus-0.3.58.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: moteus
-Version: 0.3.56
+Version: 0.3.58
 Summary: moteus brushless controller library and tools
 Home-page: https://github.com/mjbots/moteus
 Author: mjbots Robotic Systems

{moteus-0.3.56.dist-info → moteus-0.3.58.dist-info}/RECORD

@@ -2,22 +2,22 @@ moteus/__init__.py,sha256=1Prmih65X7Qz7WY8AUiSwUWXz3Dev8ggQS9xohL75M0,721
 moteus/aioserial.py,sha256=lOBFPXManRBMsjMc1zuyw-NRt6CNVMvnj_mQqIZLpyI,1061
 moteus/aiostream.py,sha256=SLDXwdBMHIWVTAmeUGG6ke7sntfNVxd9CqapzfniJOo,3678
 moteus/calibrate_encoder.py,sha256=kY6mV1WkgCrD9z2YpRoqTTK_BUrRfop4_YJym9AQI-I,12403
-moteus/command.py,sha256=YEtDNXX-TlkUSElsGVQoSYbGqcboneNEejZo06v8ZsI,1128
+moteus/command.py,sha256=IXb0ToAg74fm8FYKPiOdjlzxosqdafLhqADffCvw5OY,1156
 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=WPpXvLwD9bJaWZY8LVygzFrmT7diN0HXMVZ_nUSfp9k,66231
-moteus/multiplex.py,sha256=0Hs63pFZpl1y7ciTcwEeg8F2JDjlhrkb2FcfUbdox-g,9637
+moteus/moteus.py,sha256=J7nzalhDTUvJq3h1FNjFnYLkrSVnL_IGDU1sw2PNsmU,43869
+moteus/moteus_tool.py,sha256=L-7IBs9YHcbd2nc8SPwCEinHvzp09iVb_JeQCUtNM2U,66800
+moteus/multiplex.py,sha256=EBOhAE-DHkS_AXtqUl2YEs745evvLMPIMeXQSYxF8zk,10102
 moteus/posix_aioserial.py,sha256=3JFiY5p4dtC2ztg6N5SOffnNk9lNcjie02yjD3UlJWo,2971
 moteus/pythoncan.py,sha256=lawewmkd9zQuE-Z1LurmpFD2iSWATei65SZb42um_Vg,3309
 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=6IePxRuf-dHbF45uc1W5kTJba8U8rF7AWW44ngo7bEY,609
+moteus/version.py,sha256=zpTmrEA7ncnYPk73r5YQJOdYXTB_LBw60As5aQhXRA0,609
 moteus/win32_aioserial.py,sha256=SZsnoBWE0Uwo4ZZF8ALB1WNPRY9NiaCOBz6VfvVcnxA,1841
-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,,
+moteus-0.3.58.dist-info/METADATA,sha256=WCPxHMe0doKijEQK9-XAaN5FjXUxTLVdsFn1lRvP4wE,3417
+moteus-0.3.58.dist-info/WHEEL,sha256=G16H4A3IeoQmnOrYV4ueZGKSjhipXx8zc8nu9FGlvMA,92
+moteus-0.3.58.dist-info/entry_points.txt,sha256=indCsEML1fmtWJU1WiV-d7UmmTaAMhyBLEc1iiKnexQ,57
+moteus-0.3.58.dist-info/top_level.txt,sha256=aZzmI_yecTaDrdSp29pTJuowaSQ9dlIZheQpshGg4YQ,7
+moteus-0.3.58.dist-info/RECORD,,