moteus 0.3.79__py3-none-any.whl → 0.3.81__py3-none-any.whl

moteus/moteus_tool.py

@@ -887,7 +887,7 @@ class Stream:
             if old_firmware is None else
             old_firmware.version,
             elf.firmware_version,
-            None if old_firmware is None else old_firmware.family
+            None if old_firmware is None else getattr(old_firmware, 'family', 0)
         )
 
         if not self.args.bootloader_active and not self.args.no_restore_config:
@@ -1950,7 +1950,7 @@ class Stream:
         if self.firmware.version >= 0x010a:
             await self.command(f"conf set motor.Kv {motor_kv}")
         else:
-            if self.firmware.family == 2:
+            if getattr(self.firmware, 'family', 0) == 2:
                 # moteus-c1 in older firmwares had additional
                 # scaling.
                 motor_kv /= 1.38

moteus/pythoncan.py

@@ -50,6 +50,16 @@ class PythonCan:
             self._disable_brs = kwargs['disable_brs']
             del kwargs['disable_brs']
 
+        if ('timing' not in kwargs and
+            kwargs.get('interface', can.rc['interface']) == 'pcan'):
+            # We default to the timing that works with moteus and assume
+            # an 80MHz base clock, which seems pretty typical for PCAN
+            # interfaces.
+            kwargs['timing'] = can.BitTimingFd.from_sample_point(
+                nom_bitrate=1000000, data_bitrate=5000000,
+                nom_sample_point=66, data_sample_point=66,
+                f_clock=80000000)
+
         self._can = can.Bus(*args, **kwargs)
         self._setup = False
 

moteus/version.py

@@ -12,4 +12,4 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-VERSION="0.3.79"
+VERSION="0.3.81"

{moteus-0.3.79.dist-info → moteus-0.3.81.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: moteus
-Version: 0.3.79
+Version: 0.3.81
 Summary: moteus brushless controller library and tools
 Home-page: https://github.com/mjbots/moteus
 Author: mjbots Robotic Systems

{moteus-0.3.79.dist-info → moteus-0.3.81.dist-info}/RECORD

@@ -6,18 +6,18 @@ moteus/command.py,sha256=UkOsbtkso6Oyex8CfbpAKpBNriik519ymxL86EZGkRs,1169
 moteus/export.py,sha256=XitBUuf4MDRIneXQSUptizIhZi2BdHyFO2Vo_2d2CFI,1742
 moteus/fdcanusb.py,sha256=7PrQiCTROY96gdT2zSZYU1bOCriw-I7H6NspaZpiEx4,7431
 moteus/moteus.py,sha256=vImSRBn6VEmoijD6hvrSRVxuv1_xVaEJU3F_3Wi6GiE,52498
-moteus/moteus_tool.py,sha256=WPdz6npbj3g59Gpn0ogxetiYIlf_5Rfo5lDXb1UiO9A,93698
+moteus/moteus_tool.py,sha256=eLMfUkixYio7dLHcF2OY1Xt_MLoa8DF74Z6SVdXLD_Y,93728
 moteus/multiplex.py,sha256=2tdNX5JSh21TOjN6N9LKribLQtVYyyYbXjzwXB64sfA,12119
 moteus/posix_aioserial.py,sha256=2oDrw8TBEwuEQjY41g9rHeuFeffcPHqMwNS3nf5NVq8,3137
-moteus/pythoncan.py,sha256=4CZygTWU0hGx_7Av2kETdmtOa4VDe0Hpt9ZdPDbBKYw,4289
+moteus/pythoncan.py,sha256=M5Qba3aCzO_GyXcIsLJxjw3NrPgUk4CUnHOQIhQeIb0,4786
 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=AVfkc9UMWkwmntsKe2K_NkRkf-7tdDHzWL3H7J_x5Cw,627
+moteus/version.py,sha256=6iWEiuheEClkYZXEvvUCx_P1R2ouwdcOXUajiZeOdYc,627
 moteus/win32_aioserial.py,sha256=culdl-vYxBKD5n2s5LkIMGyUaHyCcEc8BL5-DWEaxX8,2025
-moteus-0.3.79.dist-info/METADATA,sha256=N6ND_qb-INXmDBQf9TvgXJOgz1ddVLWxucIh8CHMCoA,3441
-moteus-0.3.79.dist-info/WHEEL,sha256=oiQVh_5PnQM0E3gPdiz09WCNmwiHDMaGer_elqB3coM,92
-moteus-0.3.79.dist-info/entry_points.txt,sha256=accRcwir_K8wCf7i3qHb5R6CPh5SiSgd5a1A92ibb9E,56
-moteus-0.3.79.dist-info/top_level.txt,sha256=aZzmI_yecTaDrdSp29pTJuowaSQ9dlIZheQpshGg4YQ,7
-moteus-0.3.79.dist-info/RECORD,,
+moteus-0.3.81.dist-info/METADATA,sha256=IJMJPV751cPCxJzHohBLxrV9k9JJ1B-IyW9cllDuBKs,3441
+moteus-0.3.81.dist-info/WHEEL,sha256=oiQVh_5PnQM0E3gPdiz09WCNmwiHDMaGer_elqB3coM,92
+moteus-0.3.81.dist-info/entry_points.txt,sha256=accRcwir_K8wCf7i3qHb5R6CPh5SiSgd5a1A92ibb9E,56
+moteus-0.3.81.dist-info/top_level.txt,sha256=aZzmI_yecTaDrdSp29pTJuowaSQ9dlIZheQpshGg4YQ,7
+moteus-0.3.81.dist-info/RECORD,,