moteus 0.3.68__tar.gz → 0.3.70__tar.gz

{moteus-0.3.68 → moteus-0.3.70}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: moteus
-Version: 0.3.68
+Version: 0.3.70
 Summary: moteus brushless controller library and tools
 Home-page: https://github.com/mjbots/moteus
 Author: mjbots Robotic Systems
@@ -110,10 +110,10 @@ pr.kp_scale = moteus.F32
 pr.kd_scale = moteus.F32
 
 qr = moteus.QueryResolution()
-qr.mode = mp.INT8
-qr.position = mp.F32
-qr.velocity = mp.F32
-qr.torque = mp.F32
+qr.mode = moteus.INT8
+qr.position = moteus.F32
+qr.velocity = moteus.F32
+qr.torque = moteus.F32
 
 c = moteus.Controller(position_resolution=pr, query_resolution=qr)
 ```

{moteus-0.3.68 → moteus-0.3.70}/README.md

@@ -90,10 +90,10 @@ pr.kp_scale = moteus.F32
 pr.kd_scale = moteus.F32
 
 qr = moteus.QueryResolution()
-qr.mode = mp.INT8
-qr.position = mp.F32
-qr.velocity = mp.F32
-qr.torque = mp.F32
+qr.mode = moteus.INT8
+qr.position = moteus.F32
+qr.velocity = moteus.F32
+qr.torque = moteus.F32
 
 c = moteus.Controller(position_resolution=pr, query_resolution=qr)
 ```

{moteus-0.3.68 → moteus-0.3.70}/moteus/moteus.py

@@ -162,6 +162,7 @@ class Register(enum.IntEnum):
     Q_CURRENT = 0x004
     D_CURRENT = 0x005
     ABS_POSITION = 0x006
+    POWER = 0x007
     MOTOR_TEMPERATURE = 0x00a
     TRAJECTORY_COMPLETE = 0x00b
     REZERO_STATE = 0x00c
@@ -199,6 +200,7 @@ class Register(enum.IntEnum):
     COMMAND_VELOCITY_LIMIT = 0x028
     COMMAND_ACCEL_LIMIT = 0x029
     COMMAND_FIXED_VOLTAGE_OVERRIDE = 0x02a
+    COMMAND_ILIMIT_SCALE = 0x02b
 
     POSITION_KP = 0x030
     POSITION_KI = 0x031
@@ -220,6 +222,7 @@ class Register(enum.IntEnum):
     COMMAND_WITHIN_KD_SCALE = 0x044
     COMMAND_WITHIN_MAX_TORQUE = 0x045
     COMMAND_WITHIN_TIMEOUT = 0x046
+    COMMAND_WITHIN_ILIMIT_SCALE = 0x047
 
     ENCODER_0_POSITION = 0x050
     ENCODER_0_VELOCITY = 0x051
@@ -299,6 +302,7 @@ class QueryResolution:
     q_current = mp.IGNORE
     d_current = mp.IGNORE
     abs_position = mp.IGNORE
+    power = mp.IGNORE
     motor_temperature = mp.IGNORE
     trajectory_complete = mp.IGNORE
     rezero_state = mp.IGNORE
@@ -329,6 +333,7 @@ class PositionResolution:
     velocity_limit = mp.F32
     accel_limit = mp.F32
     fixed_voltage_override = mp.F32
+    ilimit_scale = mp.F32
 
 
 class VFOCResolution:
@@ -371,6 +376,9 @@ class Parser(mp.RegisterParser):
     def read_current(self, resolution):
         return self.read_mapped(resolution, 1.0, 0.1, 0.001)
 
+    def read_power(self, resolution):
+        return self.read_mapped(resolution, 10.0, 0.05, 0.0001)
+
     def ignore(self, resolution):
         self._offset += mp.resolution_size(resolution)
 
@@ -407,6 +415,9 @@ class Writer(mp.WriteFrame):
     def write_current(self, value, resolution):
         self.write_mapped(value, 1.0, 0.1, 0.001, resolution)
 
+    def write_power(self, value, resolution):
+        self.write_mapped(value, 10.0, 0.05, 0.0001, resolution)
+
 
 def parse_register(parser, register, resolution):
     if register == Register.MODE:
@@ -423,6 +434,8 @@ def parse_register(parser, register, resolution):
         return parser.read_current(resolution)
     elif register == Register.ABS_POSITION:
         return parser.read_position(resolution)
+    elif register == Register.POWER:
+        return parser.read_power(resolution)
     elif register == Register.TRAJECTORY_COMPLETE:
         return parser.read_int(resolution)
     elif register == Register.HOME_STATE or register == Register.REZERO_STATE:
@@ -642,6 +655,7 @@ class Controller:
             qr.q_current,
             qr.d_current,
             qr.abs_position,
+            qr.power,
             ])
         for i in range(c1.size()):
             c1.maybe_write()
@@ -888,6 +902,7 @@ class Controller:
                       velocity_limit=None,
                       accel_limit=None,
                       fixed_voltage_override=None,
+                      ilimit_scale=None,
                       query=False,
                       query_override=None):
         """Return a moteus.Command structure with data necessary to send a
@@ -909,6 +924,7 @@ class Controller:
             pr.velocity_limit if velocity_limit is not None else mp.IGNORE,
             pr.accel_limit if accel_limit is not None else mp.IGNORE,
             pr.fixed_voltage_override if fixed_voltage_override is not None else mp.IGNORE,
+            pr.ilimit_scale if ilimit_scale is not None else mp.IGNORE
         ]
 
         data_buf = io.BytesIO()
@@ -943,6 +959,8 @@ class Controller:
             writer.write_accel(accel_limit, pr.accel_limit)
         if combiner.maybe_write():
             writer.write_voltage(fixed_voltage_override, pr.fixed_voltage_override)
+        if combiner.maybe_write():
+            writer.write_voltage(ilimit_scale, pr.ilimit_scale)
 
         self._format_query(query, query_override, data_buf, result)
 
@@ -1098,6 +1116,7 @@ class Controller:
             maximum_torque=None,
             stop_position=None,
             watchdog_timeout=None,
+            ilimit_scale=None,
             query=False,
             query_override=None):
         """Return a moteus.Command structure with data necessary to send a
@@ -1115,6 +1134,7 @@ class Controller:
             pr.kd_scale if kd_scale is not None else mp.IGNORE,
             pr.maximum_torque if maximum_torque is not None else mp.IGNORE,
             pr.watchdog_timeout if watchdog_timeout is not None else mp.IGNORE,
+            pr.ilimit_scale if ilimit_scale is not None else mp.IGNORE,
         ]
 
         data_buf = io.BytesIO()
@@ -1142,6 +1162,8 @@ class Controller:
             writer.write_torque(maximum_torque, pr.maximum_torque)
         if combiner.maybe_write():
             writer.write_time(watchdog_timeout, pr.watchdog_timeout)
+        if combiner.maybe_write():
+            writer.write_pwm(ilimit_scale, pr.ilimit_scale)
 
         self._format_query(query, query_override, data_buf, result)
 

{moteus-0.3.68 → moteus-0.3.70}/moteus/moteus_tool.py

@@ -54,7 +54,7 @@ class FirmwareUpgrade:
         self.old = old
         self.new = new
 
-        SUPPORTED_ABI_VERSION = 0x0106
+        SUPPORTED_ABI_VERSION = 0x0107
 
         if new > SUPPORTED_ABI_VERSION:
             raise RuntimeError(f"\nmoteus_tool needs to be upgraded to support this firmware\n\n (likely 'python -m pip install --upgrade moteus')\n\nThe provided firmare is ABI version 0x{new:04x} but this moteus_tool only supports up to 0x{SUPPORTED_ABI_VERSION:04x}")
@@ -63,6 +63,13 @@ class FirmwareUpgrade:
         lines = old_config.split(b'\n')
         items = dict([line.split(b' ') for line in lines if b' ' in line])
 
+        if self.new <= 0x0106 and self.old >= 0x0107:
+            # motor_position.output.sign was broken in older versions.
+            if int(items[b'motor_position.output.sign']) != 1:
+                print("WARNING: motor_position.output.sign==-1 is broken in order versions, disabling")
+                items[b'motor_position.output.sign'] = '1'
+            pass
+
         if self.new <= 0x0105 and self.old >= 0x0106:
             # Downgrade the I2C polling rate.
             for aux in [1, 2]:
@@ -279,6 +286,13 @@ class FirmwareUpgrade:
                     items[poll_rate_us_key] = str(int(poll_ms) * 1000).encode('utf8')
             print("Upgrading I2C rates for version 0x0106")
 
+        if self.new >= 0x0107 and self.old <= 0x0106:
+            if int(items.get(b'motor_position.output.sign', 1)) == -1:
+                print("Upgrading from motor_position.output.sign == -1, " +
+                      "this was broken before, behavior will change")
+
+            # No actual configuration updating is required here.
+            pass
 
         lines = [key + b' ' + value for key, value in items.items()]
         return b'\n'.join(lines)
@@ -305,6 +319,10 @@ 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()
 
@@ -794,6 +812,8 @@ class Stream:
             return cal_voltage
 
     async def do_calibrate(self):
+        self.firmware = await self.read_data("firmware")
+
         # Determine what our calibration parameters are.
         self.calculate_calibration_parameters()
 
@@ -1239,6 +1259,16 @@ 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)
@@ -1308,32 +1338,42 @@ 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]
 
-            # As a fallback, timeout after 1s of waiting.
+            recent_average = _average(velocity_samples[-AVERAGE_COUNT:])
+
+            # 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
 
@@ -1393,8 +1433,10 @@ class Stream:
             geared_v_per_hz = 1.0 / _calculate_slope(voltages, speed_hzs)
 
             v_per_hz = (geared_v_per_hz *
-                        unwrapped_position_scale *
-                        motor_output_sign)
+                        unwrapped_position_scale)
+            if self.firmware.version <= 0x0106:
+                v_per_hz *= motor_output_sign
+
             print(f"v_per_hz (pre-gearbox)={v_per_hz}")
 
             await self.command(f"conf set servopos.position_min {original_position_min}")

{moteus-0.3.68 → moteus-0.3.70}/moteus/version.py

@@ -12,4 +12,4 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-VERSION="0.3.68"
+VERSION="0.3.70"

{moteus-0.3.68 → moteus-0.3.70}/moteus.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: moteus
-Version: 0.3.68
+Version: 0.3.70
 Summary: moteus brushless controller library and tools
 Home-page: https://github.com/mjbots/moteus
 Author: mjbots Robotic Systems
@@ -110,10 +110,10 @@ pr.kp_scale = moteus.F32
 pr.kd_scale = moteus.F32
 
 qr = moteus.QueryResolution()
-qr.mode = mp.INT8
-qr.position = mp.F32
-qr.velocity = mp.F32
-qr.torque = mp.F32
+qr.mode = moteus.INT8
+qr.position = moteus.F32
+qr.velocity = moteus.F32
+qr.torque = moteus.F32
 
 c = moteus.Controller(position_resolution=pr, query_resolution=qr)
 ```

{moteus-0.3.68 → moteus-0.3.70}/setup.py

@@ -25,7 +25,7 @@ long_description = (here / 'README.md').read_text(encoding='utf-8')
 
 setuptools.setup(
     name = 'moteus',
-    version = "0.3.68",
+    version = "0.3.70",
     description = 'moteus brushless controller library and tools',
     long_description = long_description,
     long_description_content_type = 'text/markdown',