moteus 0.3.82__py3-none-any.whl → 0.3.84__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 +528,44 @@ 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')
+
+            def float_or_none(val):
+                if val is None:
+                    return None
+                return float(val)
+
+            motor_derate_temperature = (
+                float_or_none(items.pop(b'servo.motor_derate_temperature', None)))
+            motor_fault_temperature = (
+                float_or_none(items.get(b'servo.motor_fault_temperature', None)))
+
+            if (motor_derate_temperature is not None and
+                motor_fault_temperature is not None):
+
+                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)
 
@@ -1123,7 +1189,8 @@ class Stream:
         await self.check_for_fault()
 
         cal_result = await self.calibrate_encoder_mapping(
-            input_V, winding_resistance, current_noise)
+            input_V, winding_resistance, current_noise,
+            unwrapped_position_scale)
         await self.check_for_fault()
 
         motor_kv = await self.calibrate_kv_rating(
@@ -1214,7 +1281,7 @@ class Stream:
                    math.sqrt((self.args.cal_motor_power / 1.5) *
                              winding_resistance))
 
-    async def calibrate_encoder_mapping(self, input_V, winding_resistance, current_noise):
+    async def calibrate_encoder_mapping(self, input_V, winding_resistance, current_noise, unwrapped_position_scale):
         # Figure out what voltage to use for encoder calibration.
         encoder_cal_voltage = \
             await self.find_encoder_cal_voltage(input_V, winding_resistance)
@@ -1255,7 +1322,8 @@ class Stream:
                         "servo.voltage_mode_control")
 
                 return await self.calibrate_encoder_mapping_absolute(
-                    encoder_cal_voltage, encoder_cal_current, current_noise)
+                    encoder_cal_voltage, encoder_cal_current, current_noise,
+                    unwrapped_position_scale)
             finally:
                 # At least try to stop.
                 await self.command("d stop")
@@ -1358,7 +1426,8 @@ class Stream:
             await self.find_index(encoder_cal_voltage)
 
     async def calibrate_encoder_mapping_absolute(
-            self, encoder_cal_voltage, encoder_cal_current, current_noise):
+            self, encoder_cal_voltage, encoder_cal_current, current_noise,
+            unwrapped_position_scale):
         await self.ensure_valid_theta(encoder_cal_voltage)
 
         current_quality_factor = encoder_cal_current / current_noise
@@ -1383,7 +1452,7 @@ class Stream:
             await asyncio.sleep(3.0)
 
             await self.write_message(
-                (f"d cali i{encoder_cal_current} s{self.args.cal_ll_encoder_speed}"))
+                (f"d cali i{encoder_cal_current} s{self.args.cal_ll_encoder_speed * unwrapped_position_scale}"))
         else:
             await self.command(f"d pwm 0 {encoder_cal_voltage}")
             await asyncio.sleep(3.0)

moteus/version.py

@@ -12,4 +12,4 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-VERSION="0.3.82"
+VERSION="0.3.84"

{moteus-0.3.82.dist-info → moteus-0.3.84.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: moteus
-Version: 0.3.82
+Version: 0.3.84
 Summary: moteus brushless controller library and tools
 Home-page: https://github.com/mjbots/moteus
 Author: mjbots Robotic Systems

{moteus-0.3.82.dist-info → moteus-0.3.84.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=toUr5Rv0XoNZ1soZc3IusAMAoQYsZBVOwkc3DtcSniY,93662
+moteus/moteus_tool.py,sha256=ocKUSl7qc_O1DOwoj5UFx1Kaw5HkRPEhU_e-tftfmk4,97236
 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=yUotycLixsbSHt_TAvTu3KUAH5Gwscdtw-jVRomcksk,627
+moteus/version.py,sha256=SIOoh1lHjcFFVldtp79E9rmBXUk63cDry1gjgxqOQ14,627
 moteus/win32_aioserial.py,sha256=culdl-vYxBKD5n2s5LkIMGyUaHyCcEc8BL5-DWEaxX8,2025
-moteus-0.3.82.dist-info/METADATA,sha256=cWJhVsMf0_eWavJcomnA46-CYEK8QXnXpLz6zo_l0R0,3441
-moteus-0.3.82.dist-info/WHEEL,sha256=oiQVh_5PnQM0E3gPdiz09WCNmwiHDMaGer_elqB3coM,92
-moteus-0.3.82.dist-info/entry_points.txt,sha256=accRcwir_K8wCf7i3qHb5R6CPh5SiSgd5a1A92ibb9E,56
-moteus-0.3.82.dist-info/top_level.txt,sha256=aZzmI_yecTaDrdSp29pTJuowaSQ9dlIZheQpshGg4YQ,7
-moteus-0.3.82.dist-info/RECORD,,
+moteus-0.3.84.dist-info/METADATA,sha256=okhSG2P2nrnQPSoq_F4-4t79_4KVrRCOZat5etq3gAg,3441
+moteus-0.3.84.dist-info/WHEEL,sha256=oiQVh_5PnQM0E3gPdiz09WCNmwiHDMaGer_elqB3coM,92
+moteus-0.3.84.dist-info/entry_points.txt,sha256=accRcwir_K8wCf7i3qHb5R6CPh5SiSgd5a1A92ibb9E,56
+moteus-0.3.84.dist-info/top_level.txt,sha256=aZzmI_yecTaDrdSp29pTJuowaSQ9dlIZheQpshGg4YQ,7
+moteus-0.3.84.dist-info/RECORD,,