moteus 0.3.88__py3-none-any.whl → 0.3.89__py3-none-any.whl

moteus/moteus.py

@@ -263,7 +263,11 @@ class Register(enum.IntEnum):
     AUX2_PWM4 = 0x07e,
     AUX2_PWM5 = 0x07f,
 
+    MODEL_NUMBER = 0x0100
+    FIRMWARE_VERSION = 0x101
     REGISTER_MAP_VERSION = 0x102
+    MULTIPLEX_ID = 0x110
+
     SERIAL_NUMBER = 0x120
     SERIAL_NUMBER1 = 0x120
     SERIAL_NUMBER2 = 0x121

moteus/moteus_tool.py

@@ -35,6 +35,12 @@ from . import moteus
 from . import aiostream
 from . import regression
 from . import calibrate_encoder as ce
+try:
+    from . import version
+except ImportError:
+    class Version:
+        VERSION = 'dev'
+    version = Version()
 
 MAX_FLASH_BLOCK_SIZE = 32
 
@@ -1256,6 +1262,7 @@ class Stream:
             'motor_position_output_sign' : motor_output_sign,
             'abi_version' : self.firmware.version,
             'voltage_mode_control' : voltage_mode_control,
+            'py_version' : version.VERSION,
         }
 
         log_filename = f"moteus-cal-{device_info['serial_number']}-{now.strftime('%Y%m%dT%H%M%S.%f')}.log"
@@ -2238,6 +2245,7 @@ async def async_main():
 
     group = parser.add_mutually_exclusive_group()
 
+    group.add_argument('--version', action='store_true')
     group.add_argument('-s', '--stop', action='store_true',
                        help='command the servos to stop')
     group.add_argument('-i', '--info', action='store_true',
@@ -2353,6 +2361,10 @@ async def async_main():
 
     args = parser.parse_args()
 
+    if args.version:
+        print(f"moteus_tool version '{version.VERSION}'")
+        sys.exit(0)
+
     with Runner(args) as runner:
         await runner.start()
 

moteus/version.py

@@ -12,4 +12,4 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-VERSION="0.3.88"
+VERSION="0.3.89"

{moteus-0.3.88.dist-info → moteus-0.3.89.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: moteus
-Version: 0.3.88
+Version: 0.3.89
 Summary: moteus brushless controller library and tools
 Home-page: https://github.com/mjbots/moteus
 Author: mjbots Robotic Systems

{moteus-0.3.88.dist-info → moteus-0.3.89.dist-info}/RECORD

@@ -5,8 +5,8 @@ moteus/calibrate_encoder.py,sha256=Ami5e-LFw4RLoLseKcZx9QfS1PjQZJUwygvNZfPqd04,1
 moteus/command.py,sha256=UkOsbtkso6Oyex8CfbpAKpBNriik519ymxL86EZGkRs,1169
 moteus/export.py,sha256=XitBUuf4MDRIneXQSUptizIhZi2BdHyFO2Vo_2d2CFI,1742
 moteus/fdcanusb.py,sha256=SOAvUlleI6bKwQiApo7nYAaqBM4JoNPn4PHdPqsgsQQ,7707
-moteus/moteus.py,sha256=QH1y5W-KQ0hKoGDPv7lLkWTIS7YBS5pNO3gbYKoF5vw,53241
-moteus/moteus_tool.py,sha256=FmV-opl8PyhOHY9z_B86dyLuwbMwtkMRsH2CCNOf1Fo,98072
+moteus/moteus.py,sha256=r-aFtIFaj-0s438bKBc0feOo-G8v4G6jlWk4_siQshE,53322
+moteus/moteus_tool.py,sha256=2uiQyOvdn-Yd2mt0pTsZ2fzJIVb2kJeeyfT2taIiIX0,98391
 moteus/multiplex.py,sha256=2tdNX5JSh21TOjN6N9LKribLQtVYyyYbXjzwXB64sfA,12119
 moteus/posix_aioserial.py,sha256=2oDrw8TBEwuEQjY41g9rHeuFeffcPHqMwNS3nf5NVq8,3137
 moteus/pythoncan.py,sha256=j7Gv9tugQqTZbanm1lQGIoTvfmeS2kAxigB0n1a50lo,5039
@@ -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=bYmrQeWLHbeSIrqSgHNqnNU3m7WMEJx3w6Szx9slMuo,627
+moteus/version.py,sha256=awY4LvZ9OK5lPoCwGam-n3a3hS_9hqodOOLIH3OHQCw,627
 moteus/win32_aioserial.py,sha256=culdl-vYxBKD5n2s5LkIMGyUaHyCcEc8BL5-DWEaxX8,2025
-moteus-0.3.88.dist-info/METADATA,sha256=9dBQGXpZ4BTL8pA26Cvh2aD5WlHdgRj-3klygfDOvMA,3417
-moteus-0.3.88.dist-info/WHEEL,sha256=oiQVh_5PnQM0E3gPdiz09WCNmwiHDMaGer_elqB3coM,92
-moteus-0.3.88.dist-info/entry_points.txt,sha256=accRcwir_K8wCf7i3qHb5R6CPh5SiSgd5a1A92ibb9E,56
-moteus-0.3.88.dist-info/top_level.txt,sha256=aZzmI_yecTaDrdSp29pTJuowaSQ9dlIZheQpshGg4YQ,7
-moteus-0.3.88.dist-info/RECORD,,
+moteus-0.3.89.dist-info/METADATA,sha256=CYM1GbGI8SfVCd58_tRUgHAXwiL-CCOJWSlUjoxqiYY,3417
+moteus-0.3.89.dist-info/WHEEL,sha256=oiQVh_5PnQM0E3gPdiz09WCNmwiHDMaGer_elqB3coM,92
+moteus-0.3.89.dist-info/entry_points.txt,sha256=accRcwir_K8wCf7i3qHb5R6CPh5SiSgd5a1A92ibb9E,56
+moteus-0.3.89.dist-info/top_level.txt,sha256=aZzmI_yecTaDrdSp29pTJuowaSQ9dlIZheQpshGg4YQ,7
+moteus-0.3.89.dist-info/RECORD,,