moteus 0.3.70__tar.gz → 0.3.71__tar.gz

{moteus-0.3.70 → moteus-0.3.71}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: moteus
-Version: 0.3.70
+Version: 0.3.71
 Summary: moteus brushless controller library and tools
 Home-page: https://github.com/mjbots/moteus
 Author: mjbots Robotic Systems

{moteus-0.3.70 → moteus-0.3.71}/moteus/moteus_tool.py

@@ -54,15 +54,23 @@ class FirmwareUpgrade:
         self.old = old
         self.new = new
 
-        SUPPORTED_ABI_VERSION = 0x0107
+        SUPPORTED_ABI_VERSION = 0x0108
 
         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}")
 
+        if old > SUPPORTED_ABI_VERSION:
+            raise RuntimeError(f"\nmoteus_tool needs to be upgraded to support this board\n\n (likely 'python -m pip install --upgrade moteus')\n\nThe board firmware is ABI version 0x{old:04x} but this moteus_tool only supports up to 0x{SUPPORTED_ABI_VERSION:04x}")
+
     def fix_config(self, old_config):
         lines = old_config.split(b'\n')
         items = dict([line.split(b' ') for line in lines if b' ' in line])
 
+        if self.new <= 0x0107 and self.old >= 0x0108:
+            if float(items.get(b'servo.bemf_feedforward', '0')) == 0.0:
+                print("Reverting servo.bemf_feedforward to 1.0")
+                items[b'servo.bemf_feedforward'] = b'1.0'
+
         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:
@@ -294,6 +302,11 @@ class FirmwareUpgrade:
             # No actual configuration updating is required here.
             pass
 
+        if self.new >= 0x0108 and self.old <= 0x0107:
+            if float(items.get(b'servo.bemf_feedforward', 1.0)) == 1.0:
+                print("Upgrading servo.bemf_feedforward to 0.0")
+                items[b'servo.bemf_feedforward'] = b'0.0'
+
         lines = [key + b' ' + value for key, value in items.items()]
         return b'\n'.join(lines)
 

{moteus-0.3.70 → moteus-0.3.71}/moteus/version.py

@@ -12,4 +12,4 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-VERSION="0.3.70"
+VERSION="0.3.71"

{moteus-0.3.70 → moteus-0.3.71}/moteus.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: moteus
-Version: 0.3.70
+Version: 0.3.71
 Summary: moteus brushless controller library and tools
 Home-page: https://github.com/mjbots/moteus
 Author: mjbots Robotic Systems

{moteus-0.3.70 → moteus-0.3.71}/setup.py

@@ -25,7 +25,7 @@ long_description = (here / 'README.md').read_text(encoding='utf-8')
 
 setuptools.setup(
     name = 'moteus',
-    version = "0.3.70",
+    version = "0.3.71",
     description = 'moteus brushless controller library and tools',
     long_description = long_description,
     long_description_content_type = 'text/markdown',