moteus 0.3.67__tar.gz → 0.3.68__tar.gz

{moteus-0.3.67 → moteus-0.3.68}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: moteus
-Version: 0.3.67
+Version: 0.3.68
 Summary: moteus brushless controller library and tools
 Home-page: https://github.com/mjbots/moteus
 Author: mjbots Robotic Systems

{moteus-0.3.67 → moteus-0.3.68}/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-0.3.67 → moteus-0.3.68}/moteus/moteus_tool.py

@@ -951,16 +951,12 @@ 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:

{moteus-0.3.67 → moteus-0.3.68}/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="0.3.68"

{moteus-0.3.67 → moteus-0.3.68}/moteus.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: moteus
-Version: 0.3.67
+Version: 0.3.68
 Summary: moteus brushless controller library and tools
 Home-page: https://github.com/mjbots/moteus
 Author: mjbots Robotic Systems

{moteus-0.3.67 → moteus-0.3.68}/setup.py

@@ -17,8 +17,6 @@
 import setuptools
 import pathlib
 
-import moteus
-
 here = pathlib.Path(__file__).parent.resolve()
 
 # Get the long description from the README file
@@ -27,7 +25,7 @@ long_description = (here / 'README.md').read_text(encoding='utf-8')
 
 setuptools.setup(
     name = 'moteus',
-    version = "0.3.67",
+    version = "0.3.68",
     description = 'moteus brushless controller library and tools',
     long_description = long_description,
     long_description_content_type = 'text/markdown',