moteus 0.3.67__py3-none-any.whl → 0.3.69__py3-none-any.whl

moteus/moteus.py

@@ -619,6 +619,12 @@ class Controller:
         self.transport = get_singleton_transport()
         return self.transport
 
+    async def flush_transport(self):
+        try:
+            await asyncio.wait_for(self.transport.read(), 0.02)
+        except asyncio.TimeoutError:
+            pass
+
     def _make_query_data(self, query_resolution=None):
         if query_resolution is None:
             query_resolution = self.query_resolution
@@ -761,7 +767,7 @@ class Controller:
     async def set_stop(self, *args, **kwargs):
         return await self.execute(self.make_stop(**kwargs))
 
-    def make_set_output(self, *,
+    def make_set_output(self, *args,
                         position=0.0,
                         query=False,
                         query_override=None,
@@ -770,6 +776,9 @@ class Controller:
         """Return a moteus.Command structure with data necessary to send a
         set output nearest command."""
 
+        if len(args):
+            raise ValueError(f'unexpected positional arguments: {args}')
+
         result = self._make_command(
             query=query, query_override=query_override)
 
@@ -784,39 +793,42 @@ class Controller:
         result.data = data_buf.getvalue()
         return result
 
-    def make_set_output_nearest(self, *,
+    def make_set_output_nearest(self, *args,
                                 position=0.0,
                                 query=False,
                                 query_override=None):
         return self.make_set_output(
+            *args,
             position=position, query=query, query_override=query_override,
             cmd=Register.SET_OUTPUT_NEAREST)
 
-    def make_set_output_exact(self, *,
+    def make_set_output_exact(self, *args,
                               position=0.0,
                               query=False,
                               query_override=None):
         return self.make_set_output(
+            *args,
             position=position, query=query, query_override=query_override,
             cmd=Register.SET_OUTPUT_EXACT)
 
     async def set_output(self, *args, cmd=None, **kwargs):
-        return await self.execute(self.make_set_output(**kwargs, cmd=cmd))
+        return await self.execute(self.make_set_output(*args, **kwargs, cmd=cmd))
 
     async def set_output_nearest(self, *args, **kwargs):
-        return await self.set_output(cmd=Register.SET_OUTPUT_NEAREST, **kwargs)
+        return await self.set_output(*args, cmd=Register.SET_OUTPUT_NEAREST, **kwargs)
 
     async def set_output_exact(self, *args, **kwargs):
-        return await self.set_output(cmd=Register.SET_OUTPUT_EXACT, **kwargs)
+        return await self.set_output(*args, cmd=Register.SET_OUTPUT_EXACT, **kwargs)
 
 
     # For backwards compatibility, "*_output_nearest" used to be named
     # "make/set_rezero".
-    def make_rezero(self, *,
+    def make_rezero(self, *args,
                     rezero=0.0,
                     query=False,
                     query_override=None):
         return self.make_set_output(
+            *args,
             position=rezero, query=query, query_override=query_override,
             cmd=Register.SET_OUTPUT_NEAREST)
 
@@ -1176,8 +1188,8 @@ class Controller:
 
         combiner = mp.WriteCombiner(
             writer, 0x00, int(Register.AUX1_GPIO_COMMAND), [
-                mp.INT8 if aux1 else mp.IGNORE,
-                mp.INT8 if aux2 else mp.IGNORE,
+                mp.INT8 if aux1 is not None else mp.IGNORE,
+                mp.INT8 if aux2 is not None else mp.IGNORE,
         ])
 
         if combiner.maybe_write():
@@ -1355,11 +1367,7 @@ class Stream:
         self._read_data = b''
 
         # Now flush anything from the underlying transport if applicable.
-        try:
-            await asyncio.wait_for(self.controller._get_transport().read(), 0.02)
-        except asyncio.TimeoutError:
-            # This is the expected path.
-            pass
+        await self.controller.flush_transport()
 
     async def _read_maybe_empty_line(self):
         while b'\n' not in self._read_data and b'\r' not in self._read_data:

moteus/moteus_tool.py

@@ -305,6 +305,10 @@ def _round_nearest_4v(input_V):
     return round(input_V / 4) * 4
 
 
+def _average(x):
+    return sum(x) / len(x)
+
+
 def expand_targets(targets):
     result = set()
 
@@ -951,16 +955,12 @@ class Stream:
             if encoder_type == 4:  # hall
                 hall_configured = True
 
-        if self.args.cal_hall:
+        if self.args.cal_hall or hall_configured:
             if not hall_configured:
                 raise RuntimeError("--cal-hall specified, but hall sensors " +
                                    "not configured on device")
             return await self.calibrate_encoder_mapping_hall(encoder_cal_voltage)
         else:
-            if hall_configured:
-                raise RuntimeError(
-                    "Cannot perform encoder mapping with hall sensors, " +
-                    "use --cal-hall")
             try:
                 return await self.calibrate_encoder_mapping_absolute(encoder_cal_voltage)
             except:
@@ -1243,6 +1243,16 @@ class Stream:
                 desired_encoder_bw_hz = min(
                     desired_encoder_bw_hz, 2e-2 / inductance)
 
+            # Also, limit the bandwidth for halls based on the number
+            # of poles and the estimated calibration speed.
+            if hall_output:
+                max_pole_bandwidth_hz = (
+                    0.5 * self.args.cal_motor_poles *
+                    self.args.cal_motor_speed)
+                desired_encoder_bw_hz = min(
+                    desired_encoder_bw_hz, max_pole_bandwidth_hz)
+
+
         # And our bandwidth with the filter can be no larger than
         # 1/30th the control rate.
         encoder_bw_hz = min(control_rate_hz / 30, desired_encoder_bw_hz)
@@ -1312,32 +1322,42 @@ class Stream:
 
         start_time = time.time()
 
+        SAMPLE_PERIOD_S = 0.02
+        AVERAGE_PERIOD_S = 0.10
+
+        AVERAGE_COUNT = int(AVERAGE_PERIOD_S / SAMPLE_PERIOD_S)
+
         def sign(x):
             return 1 if x >= 0 else -1
 
-        old_change = None
-        old_vel = None
+        velocity_samples = []
+
         while True:
             data = await self.read_servo_stats()
-            velocity = data.velocity
+            velocity_samples.append(data.velocity)
+
+            if len(velocity_samples) > (3 * AVERAGE_COUNT):
+                del velocity_samples[0]
+
+            recent_average = _average(velocity_samples[-AVERAGE_COUNT:])
 
-            # As a fallback, timeout after 1s of waiting.
+            # As a fallback, timeout after a fixed amount of waiting.
             if (time.time() - start_time) > 2.0:
-                return velocity
+                return recent_average
 
-            if abs(velocity) < 0.2:
-                return velocity
+            if (len(velocity_samples) >= AVERAGE_COUNT and
+                abs(recent_average) < 0.2):
+                return recent_average
 
-            if old_vel is not None:
-                change = velocity - old_vel
-                if old_change is not None:
-                    if sign(old_change) != sign(change):
-                        return velocity
-                old_change = change
+            if len(velocity_samples) == 3 * AVERAGE_COUNT:
+                average_1 = _average(velocity_samples[:AVERAGE_COUNT])
+                average_2 = _average(velocity_samples[AVERAGE_COUNT:2*AVERAGE_COUNT])
+                average_3 = recent_average
 
-            old_vel = velocity
+                if sign(average_3 - average_2) != sign(average_2 - average_1):
+                    return recent_average
 
-            await asyncio.sleep(0.1)
+            await asyncio.sleep(SAMPLE_PERIOD_S)
 
         return velocity
 

moteus/version.py

@@ -12,4 +12,4 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-VERSION="0.3.67"
+VERSION="0.3.69"

{moteus-0.3.67.dist-info → moteus-0.3.69.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: moteus
-Version: 0.3.67
+Version: 0.3.69
 Summary: moteus brushless controller library and tools
 Home-page: https://github.com/mjbots/moteus
 Author: mjbots Robotic Systems

{moteus-0.3.67.dist-info → moteus-0.3.69.dist-info}/RECORD

@@ -5,8 +5,8 @@ moteus/calibrate_encoder.py,sha256=R3pRgGqrDCcmKQqFE7Fr4p8TSie179iqNfBwEJS3pL0,1
 moteus/command.py,sha256=UkOsbtkso6Oyex8CfbpAKpBNriik519ymxL86EZGkRs,1169
 moteus/export.py,sha256=vRIfldaqz1eHtWo3993SvatATtu73TZbejL0hzQe8YE,1646
 moteus/fdcanusb.py,sha256=7PrQiCTROY96gdT2zSZYU1bOCriw-I7H6NspaZpiEx4,7431
-moteus/moteus.py,sha256=dSlcEErC2b9Z7Lz37hHbAZxTU0yhAYZNdolDNg3_n0U,47890
-moteus/moteus_tool.py,sha256=uYR7klPSXS16RwE23fZL4rJDF5exsPajiZMZiypBYtw,69373
+moteus/moteus.py,sha256=2x5i-4BpTwS3Uo9FWyWesR--acIO8TJb0wCQHbuKuxQ,48131
+moteus/moteus_tool.py,sha256=ccrvAVdxRZEnheALvAgbR7mDrlU90Ses3kj1kfEsVfI,70167
 moteus/multiplex.py,sha256=LF6MuelzYHqqsCJuCB9YeEyUA03eBaTYRwAVotX3qm8,10120
 moteus/posix_aioserial.py,sha256=2oDrw8TBEwuEQjY41g9rHeuFeffcPHqMwNS3nf5NVq8,3137
 moteus/pythoncan.py,sha256=ofotOrDuaFhTLvaokaO3EJK6quVc75Bq-ue70lDMtXI,4071
@@ -14,10 +14,10 @@ moteus/reader.py,sha256=9i1-h4aGd4syfqtWJcpg70Bl-bmunkGU4FmXmOLyRt8,12121
 moteus/regression.py,sha256=M5gjDBYJQ64iBXIrvBhMkD8TYhtlnQ85x8U4py0niGA,1196
 moteus/router.py,sha256=501W5GZ12rFoc1lmcH3S7IYsoc-Q_-FJ4B3i37RzE3Q,2061
 moteus/transport.py,sha256=WhkW2G9i25lkOlO55eI5_oXmU0PhDmxTeJ75Sg_7nTI,1021
-moteus/version.py,sha256=q4LPxNY63TQcpoLc62l1hxxwO8yOooz5ORImA1Tw6io,627
+moteus/version.py,sha256=FEYQhXwueAJ_XxxIiWQCnSdWVFCa2egsxksGzbElp7g,627
 moteus/win32_aioserial.py,sha256=culdl-vYxBKD5n2s5LkIMGyUaHyCcEc8BL5-DWEaxX8,2025
-moteus-0.3.67.dist-info/METADATA,sha256=BEV8aecrlyr4X8sNZ2XgjL33IXYk5nIdFPG2KyYuG0E,3372
-moteus-0.3.67.dist-info/WHEEL,sha256=yQN5g4mg4AybRjkgi-9yy4iQEFibGQmlz78Pik5Or-A,92
-moteus-0.3.67.dist-info/entry_points.txt,sha256=accRcwir_K8wCf7i3qHb5R6CPh5SiSgd5a1A92ibb9E,56
-moteus-0.3.67.dist-info/top_level.txt,sha256=aZzmI_yecTaDrdSp29pTJuowaSQ9dlIZheQpshGg4YQ,7
-moteus-0.3.67.dist-info/RECORD,,
+moteus-0.3.69.dist-info/METADATA,sha256=TRwp5Wf0k3CPaiHBxmpm-URMuJ2lL5wlTWErGm6eXjg,3372
+moteus-0.3.69.dist-info/WHEEL,sha256=yQN5g4mg4AybRjkgi-9yy4iQEFibGQmlz78Pik5Or-A,92
+moteus-0.3.69.dist-info/entry_points.txt,sha256=accRcwir_K8wCf7i3qHb5R6CPh5SiSgd5a1A92ibb9E,56
+moteus-0.3.69.dist-info/top_level.txt,sha256=aZzmI_yecTaDrdSp29pTJuowaSQ9dlIZheQpshGg4YQ,7
+moteus-0.3.69.dist-info/RECORD,,