moteus 0.3.72__tar.gz → 0.3.77__tar.gz

{moteus-0.3.72 → moteus-0.3.77}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: moteus
-Version: 0.3.72
+Version: 0.3.77
 Summary: moteus brushless controller library and tools
 Home-page: https://github.com/mjbots/moteus
 Author: mjbots Robotic Systems
@@ -12,13 +12,6 @@ Classifier: License :: OSI Approved :: Apache Software License
 Classifier: Programming Language :: Python :: 3
 Requires-Python: >=3.7, <4
 Description-Content-Type: text/markdown
-Requires-Dist: pyserial>=3.5
-Requires-Dist: python-can>=3.3
-Requires-Dist: pyelftools>=0.26
-Requires-Dist: scipy>=1.8.0
-Requires-Dist: importlib_metadata>=3.6
-Requires-Dist: pywin32; platform_system == "Windows"
-Requires-Dist: numpy<2
 
 # Python bindings for moteus brushless controller #
 

{moteus-0.3.72 → moteus-0.3.77}/moteus/calibrate_encoder.py

@@ -53,11 +53,15 @@ def _parse_entry(line):
     return result
 
 
+def check_line(cmd):
+    return ' '.join(cmd.strip().split(' ')[0:2])
+
+
 def parse_file(fp):
     lines = [x.decode('latin1') for x in fp.readlines()]
-    if not lines[0].startswith("CAL start"):
+    if not check_line(lines[0]) in ["CAL start", "CALI start"]:
         raise RuntimeError("calibration does not start with magic line")
-    if not lines[-1].startswith("CAL done"):
+    if not check_line(lines[-1]) in ["CAL done", "CALI done"]:
         raise RuntimeError("calibration does not end with magic line")
 
     lines = lines[1:-1]
@@ -65,8 +69,8 @@ def parse_file(fp):
     entries = [_parse_entry(line) for line in lines]
 
     result = File()
-    result.phase_up = [x for x in entries if x.direction == 1]
-    result.phase_down = [x for x in entries if x.direction == 2]
+    result.phase_up = [x for x in entries if x.direction == 1 or x.direction == 3]
+    result.phase_down = [x for x in entries if x.direction == 2 or x.direction == 4]
 
     return result
 
@@ -181,6 +185,8 @@ class CalibrationResult:
 
         self.fit_metric = None
 
+        self.current_quality_factor = None
+
         self.errors = []
 
     def __repr__(self):
@@ -190,6 +196,7 @@ class CalibrationResult:
             "poles": self.poles,
             "offset": self.offset,
             "fit_metric": self.fit_metric,
+            "current_quality_factor": self.current_quality_factor,
             "errors": self.errors,
             })
 
@@ -200,6 +207,7 @@ class CalibrationResult:
             'poles': self.poles,
             'offset': self.offset,
             'fit_metric': self.fit_metric,
+            'current_quality_factor': self.current_quality_factor,
         }
 
 
@@ -382,6 +390,7 @@ def calibrate(parsed,
             (starting_metric > 30 or
              starting_errors > 0))):
         print()
+        print(f"Initial metric: {starting_metric}")
         # Optimize these initial offsets.
         optimres = scipy.optimize.minimize(metric, offset, tol=1e1)
 

{moteus-0.3.72 → moteus-0.3.77}/moteus/export.py

@@ -25,6 +25,7 @@ ALL = [
     'TRANSPORT_FACTORIES',
     'INT8', 'INT16', 'INT32', 'F32', 'IGNORE',
     'reader',
+    'RegisterParser', 'QueryParser',
 ]
 from moteus.command import Command
 from moteus.fdcanusb import Fdcanusb
@@ -36,7 +37,8 @@ from moteus.moteus import (
     Controller, Register, Mode, QueryResolution, PositionResolution, Stream,
     make_transport_args, get_singleton_transport,
     TRANSPORT_FACTORIES)
-from moteus.multiplex import (INT8, INT16, INT32, F32, IGNORE)
+from moteus.multiplex import (INT8, INT16, INT32, F32, IGNORE,
+                              RegisterParser, QueryParser)
 import moteus.reader as reader
 import moteus.aiostream as aiostream
 

{moteus-0.3.72 → moteus-0.3.77}/moteus/moteus.py

@@ -252,6 +252,17 @@ class Register(enum.IntEnum):
     MILLISECOND_COUNTER = 0x070
     CLOCK_TRIM = 0x071
 
+    AUX1_PWM1 = 0x076,
+    AUX1_PWM2 = 0x077,
+    AUX1_PWM3 = 0x078,
+    AUX1_PWM4 = 0x079,
+    AUX1_PWM5 = 0x07a,
+    AUX2_PWM1 = 0x07b,
+    AUX2_PWM2 = 0x07c,
+    AUX2_PWM3 = 0x07d,
+    AUX2_PWM4 = 0x07e,
+    AUX2_PWM5 = 0x07f,
+
     REGISTER_MAP_VERSION = 0x102
     SERIAL_NUMBER = 0x120
     SERIAL_NUMBER1 = 0x120
@@ -267,6 +278,16 @@ class Register(enum.IntEnum):
     DRIVER_FAULT1 = 0x140
     DRIVER_FAULT2 = 0x141
 
+    UUID1 = 0x150
+    UUID2 = 0x151
+    UUID3 = 0x152
+    UUID4 = 0x153
+
+    UUID_MASK1 = 0x0154
+    UUID_MASK2 = 0x0155
+    UUID_MASK3 = 0x0156
+    UUID_MASK4 = 0x0157
+
 
 class Mode(enum.IntEnum):
     """Valid values for the Register.MODE register"""
@@ -347,6 +368,19 @@ class CurrentResolution:
     q_A = mp.F32
 
 
+class PwmResolution:
+    aux1_pwm1 = mp.INT16
+    aux1_pwm2 = mp.INT16
+    aux1_pwm3 = mp.INT16
+    aux1_pwm4 = mp.INT16
+    aux1_pwm5 = mp.INT16
+    aux2_pwm1 = mp.INT16
+    aux2_pwm2 = mp.INT16
+    aux2_pwm3 = mp.INT16
+    aux2_pwm4 = mp.INT16
+    aux2_pwm5 = mp.INT16
+
+
 class Parser(mp.RegisterParser):
     def read_position(self, resolution):
         return self.read_mapped(resolution, 0.01, 0.0001, 0.00001)
@@ -507,6 +541,9 @@ def parse_register(parser, register, resolution):
         return parser.read_int(resolution)
     elif register == Register.CLOCK_TRIM:
         return parser.read_int(resolution)
+    elif (register >= Register.AUX1_PWM1 and
+          register <= Register.AUX2_PWM5):
+        return parser.read_pwm(resolution)
     else:
         # We don't know what kind of value this is, so we don't know
         # the units.
@@ -609,6 +646,7 @@ class Controller:
                  position_resolution=PositionResolution(),
                  vfoc_resolution=VFOCResolution(),
                  current_resolution=CurrentResolution(),
+                 pwm_resolution=PwmResolution(),
                  transport=None,
                  can_prefix=0x0000):
         self.id = id
@@ -616,6 +654,7 @@ class Controller:
         self.position_resolution = position_resolution
         self.vfoc_resolution = vfoc_resolution
         self.current_resolution = current_resolution
+        self.pwm_resolution = pwm_resolution
         self.transport = transport
         self._parser = make_parser(id)
         self._can_prefix = can_prefix
@@ -1315,6 +1354,70 @@ class Controller:
     async def set_trim(self, *args, **kwargs):
         return await self.execute(self.make_set_trim(*args, **kwargs))
 
+    def make_aux_pwm(self, *,
+                     aux1_pwm1=None,
+                     aux1_pwm2=None,
+                     aux1_pwm3=None,
+                     aux1_pwm4=None,
+                     aux1_pwm5=None,
+                     aux2_pwm1=None,
+                     aux2_pwm2=None,
+                     aux2_pwm3=None,
+                     aux2_pwm4=None,
+                     aux2_pwm5=None,
+                     query=False,
+                     query_override=None):
+        result = self._make_command(query=query, query_override=query_override)
+
+        pr = self.pwm_resolution
+        resolutions = [
+            pr.aux1_pwm1 if aux1_pwm1 is not None else mp.IGNORE,
+            pr.aux1_pwm2 if aux1_pwm2 is not None else mp.IGNORE,
+            pr.aux1_pwm3 if aux1_pwm3 is not None else mp.IGNORE,
+            pr.aux1_pwm4 if aux1_pwm4 is not None else mp.IGNORE,
+            pr.aux1_pwm5 if aux1_pwm5 is not None else mp.IGNORE,
+            pr.aux2_pwm1 if aux2_pwm1 is not None else mp.IGNORE,
+            pr.aux2_pwm2 if aux2_pwm2 is not None else mp.IGNORE,
+            pr.aux2_pwm3 if aux2_pwm3 is not None else mp.IGNORE,
+            pr.aux2_pwm4 if aux2_pwm4 is not None else mp.IGNORE,
+            pr.aux2_pwm5 if aux2_pwm5 is not None else mp.IGNORE,
+        ]
+
+        data_buf = io.BytesIO()
+        writer = Writer(data_buf)
+        combiner = mp.WriteCombiner(
+            writer, 0x00, int(Register.AUX1_PWM1), resolutions)
+
+        if combiner.maybe_write():
+            writer.write_pwm(aux1_pwm1, pr.aux1_pwm1)
+        if combiner.maybe_write():
+            writer.write_pwm(aux1_pwm2, pr.aux1_pwm2)
+        if combiner.maybe_write():
+            writer.write_pwm(aux1_pwm3, pr.aux1_pwm3)
+        if combiner.maybe_write():
+            writer.write_pwm(aux1_pwm4, pr.aux1_pwm4)
+        if combiner.maybe_write():
+            writer.write_pwm(aux1_pwm5, pr.aux1_pwm5)
+        if combiner.maybe_write():
+            writer.write_pwm(aux2_pwm1, pr.aux2_pwm1)
+        if combiner.maybe_write():
+            writer.write_pwm(aux2_pwm2, pr.aux2_pwm2)
+        if combiner.maybe_write():
+            writer.write_pwm(aux2_pwm3, pr.aux2_pwm3)
+        if combiner.maybe_write():
+            writer.write_pwm(aux2_pwm4, pr.aux2_pwm4)
+        if combiner.maybe_write():
+            writer.write_pwm(aux2_pwm5, pr.aux2_pwm5)
+
+        self._format_query(query, query_override, data_buf, result)
+
+        result.data = data_buf.getvalue()
+
+        return result
+
+    async def set_aux_pwm(self, *args, **kwargs):
+        return await self.execute(self.make_aux_pwm(*args, **kwargs))
+
     def _extract(self, value):
         if len(value):
             return value[0]