moteus 0.3.83__py3-none-any.whl → 0.3.85__py3-none-any.whl

moteus/moteus_tool.py

@@ -546,16 +546,25 @@ class FirmwareUpgrade:
             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(items.pop(b'servo.motor_derate_temperature'))
-            motor_fault_temperature = float(items[b'servo.motor_fault_temperature'])
+            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)))
 
-            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')
+            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)
@@ -1180,7 +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(
@@ -1271,7 +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)
@@ -1312,7 +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")
@@ -1415,9 +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):
-        await self.ensure_valid_theta(encoder_cal_voltage)
-
+            self, encoder_cal_voltage, encoder_cal_current, current_noise,
+            unwrapped_position_scale):
         current_quality_factor = encoder_cal_current / current_noise
         use_current_for_quality = (
             current_quality_factor > CURRENT_QUALITY_MIN or
@@ -1425,23 +1435,30 @@ class Stream:
         use_current_for_firmware_version = self.firmware.version >= 0x010a
 
         use_current_calibration = (
-            use_current_for_quality and use_current_for_firmware_version)
+            not self.args.cal_never_encoder_current_mode and (
+                use_current_for_quality and use_current_for_firmware_version))
 
         if use_current_for_firmware_version and not use_current_for_quality:
             print(f"Using voltage mode calibration, current quality factor {current_quality_factor:.1f} < {CURRENT_QUALITY_MIN:.1f}")
 
-
         old_motor_poles = None
 
         if use_current_calibration:
             old_motor_poles = await self.read_config_int("motor.poles")
             await self.command("conf set motor.poles 2")
+
+            # We have to check for a valid there here, because setting
+            # the motor pole count will invalidate it.
+            await self.ensure_valid_theta(encoder_cal_voltage)
+
             await self.command(f"d pos nan 0 nan c{encoder_cal_current} b1")
             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.ensure_valid_theta(encoder_cal_voltage)
+
             await self.command(f"d pwm 0 {encoder_cal_voltage}")
             await asyncio.sleep(3.0)
 
@@ -1705,6 +1722,10 @@ class Stream:
                     # current on low resistance / low inductance motors.
                     break
             await self.command("d stop")
+
+            # Give a little bit of wait in case we had an error that
+            # the above stop should clear.
+            await asyncio.sleep(0.1)
         except moteus.CommandError as e:
             # It is possible this is an old firmware that does not
             # support inductance measurement.
@@ -2326,6 +2347,8 @@ async def async_main():
                         help='write raw calibration data')
     parser.add_argument('--cal-force-encoder-current-mode', action='store_true',
                         help='always use encoder current mode calibration if supported')
+    parser.add_argument('--cal-never-encoder-current-mode', action='store_true',
+                        help='never use current mode calibration')
 
     args = parser.parse_args()
 

moteus/version.py

@@ -12,4 +12,4 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-VERSION="0.3.83"
+VERSION="0.3.85"

{moteus-0.3.83.dist-info → moteus-0.3.85.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: moteus
-Version: 0.3.83
+Version: 0.3.85
 Summary: moteus brushless controller library and tools
 Home-page: https://github.com/mjbots/moteus
 Author: mjbots Robotic Systems

{moteus-0.3.83.dist-info → moteus-0.3.85.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=Y3yc84JLsxviX8xKSsQs4vgiQDao3HrTZDWY4Nl4C9w,96721
+moteus/moteus_tool.py,sha256=kIKE7bp9iR6CF16plAymZwYDurA8w4Diw6V1oPln9QQ,97796
 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=7Jp_Mv1z0v2vl9MnwL1_tj1x0iFjbf5TbzFIT97SAR4,627
+moteus/version.py,sha256=zZmPsYWAk-TzbzPFCbJiIizP_0N6OWfve42dp65rxmU,627
 moteus/win32_aioserial.py,sha256=culdl-vYxBKD5n2s5LkIMGyUaHyCcEc8BL5-DWEaxX8,2025
-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,,
+moteus-0.3.85.dist-info/METADATA,sha256=AVQrOY-x3zjIEDGKb0G4rZxPQj73iIE3nKTpswZmWSY,3441
+moteus-0.3.85.dist-info/WHEEL,sha256=oiQVh_5PnQM0E3gPdiz09WCNmwiHDMaGer_elqB3coM,92
+moteus-0.3.85.dist-info/entry_points.txt,sha256=accRcwir_K8wCf7i3qHb5R6CPh5SiSgd5a1A92ibb9E,56
+moteus-0.3.85.dist-info/top_level.txt,sha256=aZzmI_yecTaDrdSp29pTJuowaSQ9dlIZheQpshGg4YQ,7
+moteus-0.3.85.dist-info/RECORD,,