moteus 0.3.81__py3-none-any.whl → 0.3.83__py3-none-any.whl

moteus/moteus_tool.py

@@ -78,7 +78,7 @@ def stddev(data):
     mean = sum(data) / len(data)
     return math.sqrt(sum((x - mean) ** 2 for x in data) / len(data))
 
-SUPPORTED_ABI_VERSION = 0x010a
+SUPPORTED_ABI_VERSION = 0x010b
 
 # Old firmwares used a slightly incorrect definition of Kv/v_per_hz
 # that didn't match with vendors or oscilloscope tests.
@@ -105,6 +105,34 @@ class FirmwareUpgrade:
         lines = old_config.split(b'\n')
         items = dict([line.split(b' ') for line in lines if b' ' in line])
 
+        if self.new <= 0x010a and self.old >= 0x010b:
+            flux_brake_margin_voltage = float(items.pop(b'servo.flux_brake_margin_voltage'))
+            max_voltage = float(items[b'servo.max_voltage'])
+
+            flux_brake_min_voltage = max_voltage - flux_brake_margin_voltage
+
+            print(f"Downgrading servo.flux_brake_margin_voltage to servo.flux_brake_min_voltage={flux_brake_min_voltage}")
+
+            items[b'servo.flux_brake_min_voltage'] = str(flux_brake_min_voltage).encode('utf8')
+
+            temperature_margin = float(items.pop(b'servo.temperature_margin'))
+            fault_temperature = float(items[b'servo.fault_temperature'])
+
+            derate_temperature = fault_temperature - temperature_margin
+
+            print(f"Downgrading servo.temperature_margin to servo.derate_temperature={derate_temperature}")
+            items[b'servo.derate_temperature'] = str(derate_temperature).encode('utf8')
+
+            motor_temperature_margin = float(items.pop(b'servo.motor_temperature_margin'))
+            motor_fault_temperature = float(items[b'servo.motor_fault_temperature'])
+            motor_derate_temperature = (
+                (motor_fault_temperature - motor_temperature_margin)
+                if math.isfinite(motor_fault_temperature) else
+                50)
+
+            print(f"Downgrading servo.motor_temperature_margin to servo.motor_derate_temperature={motor_derate_temperature}")
+            items[b'servo.motor_derate_temperature'] = str(motor_derate_temperature).encode('utf8')
+
         if self.new <= 0x0109 and self.old >= 0x010a:
             kv = float(items.pop(b'motor.Kv'))
 
@@ -500,6 +528,35 @@ class FirmwareUpgrade:
                     items[b'servo.max_power_W'] = str(old_max_power * (pwm_rate / 40000)).encode('utf8')
                 print(f"Upgraded servo.max_power_W to {items[b'servo.max_power_W'].decode('utf8')} for 0x010a")
 
+        if self.new >= 0x010b and self.old <= 0x010a:
+            flux_brake_min_voltage = float(items.pop(b'servo.flux_brake_min_voltage'))
+            max_voltage = float(items[b'servo.max_voltage'])
+
+            flux_brake_margin_voltage = max(0, max_voltage - flux_brake_min_voltage)
+
+            print(f"Upgraded servo.flux_brake_min_voltage to servo.flux_brake_margin_voltage={flux_brake_margin_voltage}")
+            items[b'servo.flux_brake_margin_voltage'] = str(flux_brake_margin_voltage).encode('utf8')
+
+
+            derate_temperature = float(items.pop(b'servo.derate_temperature'))
+            fault_temperature = float(items[b'servo.fault_temperature'])
+
+            temperature_margin = fault_temperature - derate_temperature
+
+            print(f"Upgraded servo.derate_temperature to servo.temperature_margin={temperature_margin}")
+            items[b'servo.temperature_margin'] = str(temperature_margin).encode('utf8')
+
+
+            motor_derate_temperature = float(items.pop(b'servo.motor_derate_temperature'))
+            motor_fault_temperature = float(items[b'servo.motor_fault_temperature'])
+
+            motor_temperature_margin = (
+                (motor_fault_temperature - motor_derate_temperature)
+                if math.isfinite(motor_fault_temperature) else
+                20)
+            print(f"Upgraded servo.motor_derate_temperature to servo.motor_temperature_margin={motor_temperature_margin}")
+            items[b'servo.motor_temperature_margin'] = str(motor_temperature_margin).encode('utf8')
+
         lines = [key + b' ' + value for key, value in items.items()]
         return b'\n'.join(lines)
 
@@ -1082,12 +1139,8 @@ class Stream:
                 raise
             pass
 
-        try:
+        if await self.is_config_supported("motor_position.sources.0.sign"):
             await self.command("conf set motor_position.sources.0.sign 1")
-        except moteus.CommandError as e:
-            if not 'error setting' in e.message:
-                raise
-            pass
 
         # We have 3 things to calibrate.
         #  1) The encoder to phase mapping

moteus/version.py

@@ -12,4 +12,4 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-VERSION="0.3.81"
+VERSION="0.3.83"

{moteus-0.3.81.dist-info → moteus-0.3.83.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: moteus
-Version: 0.3.81
+Version: 0.3.83
 Summary: moteus brushless controller library and tools
 Home-page: https://github.com/mjbots/moteus
 Author: mjbots Robotic Systems

{moteus-0.3.81.dist-info → moteus-0.3.83.dist-info}/RECORD

@@ -6,7 +6,7 @@ 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=eLMfUkixYio7dLHcF2OY1Xt_MLoa8DF74Z6SVdXLD_Y,93728
+moteus/moteus_tool.py,sha256=Y3yc84JLsxviX8xKSsQs4vgiQDao3HrTZDWY4Nl4C9w,96721
 moteus/multiplex.py,sha256=2tdNX5JSh21TOjN6N9LKribLQtVYyyYbXjzwXB64sfA,12119
 moteus/posix_aioserial.py,sha256=2oDrw8TBEwuEQjY41g9rHeuFeffcPHqMwNS3nf5NVq8,3137
 moteus/pythoncan.py,sha256=M5Qba3aCzO_GyXcIsLJxjw3NrPgUk4CUnHOQIhQeIb0,4786
@@ -14,10 +14,10 @@ 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=6iWEiuheEClkYZXEvvUCx_P1R2ouwdcOXUajiZeOdYc,627
+moteus/version.py,sha256=7Jp_Mv1z0v2vl9MnwL1_tj1x0iFjbf5TbzFIT97SAR4,627
 moteus/win32_aioserial.py,sha256=culdl-vYxBKD5n2s5LkIMGyUaHyCcEc8BL5-DWEaxX8,2025
-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,,
+moteus-0.3.83.dist-info/METADATA,sha256=ii1jDDBkGADmZV_RnNXW7N_nIAGS9i_UkqHqWTykcvc,3441
+moteus-0.3.83.dist-info/WHEEL,sha256=oiQVh_5PnQM0E3gPdiz09WCNmwiHDMaGer_elqB3coM,92
+moteus-0.3.83.dist-info/entry_points.txt,sha256=accRcwir_K8wCf7i3qHb5R6CPh5SiSgd5a1A92ibb9E,56
+moteus-0.3.83.dist-info/top_level.txt,sha256=aZzmI_yecTaDrdSp29pTJuowaSQ9dlIZheQpshGg4YQ,7
+moteus-0.3.83.dist-info/RECORD,,