moteus 0.3.85__py3-none-any.whl → 0.3.87__py3-none-any.whl

moteus/moteus_tool.py

@@ -1273,7 +1273,7 @@ class Stream:
 
     async def find_encoder_cal_voltage(self, input_V, winding_resistance):
         if self.args.cal_ll_encoder_voltage:
-            return self.args.cal_ll_encoder_voltage,
+            return self.args.cal_ll_encoder_voltage
 
         # We're going to try and select a voltage to roughly achieve
         # "--cal-motor-power".
@@ -1840,7 +1840,7 @@ class Stream:
 
         return kp, ki, w_3db / twopi
 
-    async def find_speed(self, voltage, sleep_time=0.5):
+    async def find_speed(self, voltage, unwrapped_position_scale, sleep_time=0.5):
         assert voltage < 20.0
         assert voltage >= 0.0
 
@@ -1873,7 +1873,7 @@ class Stream:
             if len(power_samples) > AVERAGE_COUNT:
                 del power_samples[0]
 
-            velocity_samples.append(data.velocity)
+            velocity_samples.append(data.velocity / unwrapped_position_scale)
 
             if len(velocity_samples) > (3 * AVERAGE_COUNT):
                 del velocity_samples[0]
@@ -1918,8 +1918,8 @@ class Stream:
 
         return velocity
 
-    async def find_speed_and_print(self, voltage, **kwargs):
-        result = await self.find_speed(voltage, **kwargs)
+    async def find_speed_and_print(self, voltage, unwrapped_position_scale, **kwargs):
+        result = await self.find_speed(voltage, unwrapped_position_scale, **kwargs)
         print(f"{voltage:.3f}V - {result:.3f}Hz")
         return result
 
@@ -1939,7 +1939,7 @@ class Stream:
             if maybe_result > (0.2 * input_V):
                 return maybe_result
 
-            this_speed = await self.find_speed(maybe_result) / unwrapped_position_scale
+            this_speed = await self.find_speed(maybe_result, unwrapped_position_scale)
 
             if (abs(this_speed) > (0.1 * self.args.cal_motor_speed) and
                 first_nonzero_speed_voltage is None):
@@ -1977,7 +1977,8 @@ class Stream:
             voltages = [x * kv_cal_voltage for x in [
                 0.0, 0.25, 0.5, 0.75, 1.0 ]]
             voltage_speed_hzs = list(zip(
-                voltages, [ await self.find_speed_and_print(voltage, sleep_time=2)
+                voltages, [ await self.find_speed_and_print(
+                    voltage, unwrapped_position_scale, sleep_time=2)
                             for voltage in voltages]))
 
             await self.stop_and_idle()
@@ -1995,12 +1996,10 @@ class Stream:
             voltage_speed_hzs = [(v, s) for v, s in voltage_speed_hzs
                                  if abs(s) > speed_threshold]
 
-            geared_v_per_hz = 1.0 / _calculate_slope(
+            v_per_hz = 1.0 / _calculate_slope(
                 [x[0] for x in voltage_speed_hzs],
                 [x[1] for x in voltage_speed_hzs])
 
-            v_per_hz = (geared_v_per_hz *
-                        unwrapped_position_scale)
             if self.firmware.version <= 0x0106:
                 v_per_hz *= motor_output_sign
 

moteus/version.py

@@ -12,4 +12,4 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-VERSION="0.3.85"
+VERSION="0.3.87"

{moteus-0.3.85.dist-info → moteus-0.3.87.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: moteus
-Version: 0.3.85
+Version: 0.3.87
 Summary: moteus brushless controller library and tools
 Home-page: https://github.com/mjbots/moteus
 Author: mjbots Robotic Systems

{moteus-0.3.85.dist-info → moteus-0.3.87.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=kIKE7bp9iR6CF16plAymZwYDurA8w4Diw6V1oPln9QQ,97796
+moteus/moteus_tool.py,sha256=i_XvLfALdd3UitmXdO63tj0iGwCCkaSsBZSyrkgYS9Y,97847
 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=zZmPsYWAk-TzbzPFCbJiIizP_0N6OWfve42dp65rxmU,627
+moteus/version.py,sha256=0H-9-BkLhMrpt7WebRlIy2uP-2RmS0Y-oPCO-T9QBJY,627
 moteus/win32_aioserial.py,sha256=culdl-vYxBKD5n2s5LkIMGyUaHyCcEc8BL5-DWEaxX8,2025
-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,,
+moteus-0.3.87.dist-info/METADATA,sha256=JIFUMH7iwTghDJf4fdupl4uwLj2vPCKCFHsp8yj3FSc,3441
+moteus-0.3.87.dist-info/WHEEL,sha256=oiQVh_5PnQM0E3gPdiz09WCNmwiHDMaGer_elqB3coM,92
+moteus-0.3.87.dist-info/entry_points.txt,sha256=accRcwir_K8wCf7i3qHb5R6CPh5SiSgd5a1A92ibb9E,56
+moteus-0.3.87.dist-info/top_level.txt,sha256=aZzmI_yecTaDrdSp29pTJuowaSQ9dlIZheQpshGg4YQ,7
+moteus-0.3.87.dist-info/RECORD,,