motor-python 0.0.3__tar.gz → 0.0.6__tar.gz

{motor_python-0.0.3 → motor_python-0.0.6}/PKG-INFO

@@ -1,13 +1,14 @@
 Metadata-Version: 2.4
 Name: motor_python
-Version: 0.0.3
-Summary: Motor module for exosuit
+Version: 0.0.6
+Summary: CubeMars motor module for Aries exosuits.
 Project-URL: homepage, https://github.com/TUM-Aries-Lab/motor-module
 Author-email: Tsmorz <tony.smoragiewicz@tum.de>, Hannes <hannes.nguyen@tum.de>
 License-File: LICENSE
 Requires-Python: <3.14,>=3.11
 Requires-Dist: loguru>=0.7.3
 Requires-Dist: numpy>=2.2.3
+Requires-Dist: pyserial>=3.5
 Description-Content-Type: text/markdown
 
 # Motor Control Software for Soft Exoskeleton
@@ -43,11 +44,13 @@ The package can then be found at: https://pypi.org/project/motor_python
 
 from loguru import logger
 
-from motor_python import definitions
+from motor_python.cube_mars_motor import CubeMarsAK606v3
 
 def main() -> None:
     """Run a simple demonstration."""
-    logger.info("Hello World!")
+    motor = CubeMarsAK606v3()
+    motor.get_status()
+    motor.set_position(position_degrees=0.0)
 
 if __name__ == "__main__":
     main()
@@ -61,17 +64,32 @@ uv run python -m motor_python
 ## Structure
 <!-- TREE-START -->
 ```
+├── Test Rig CAD files
+│   ├── Foot.3mf
+│   ├── Jetson_Mount.3mf
+│   ├── Leg_with_2_IMU's.3mf
+│   ├── Motor_Case.3mf
+│   ├── Rod_Adapter_Jetson.3mf
+│   ├── Rod_Adapter_Motor.3mf
+│   └── Spool_V2.3mf
+├── docs
+│   ├── AK60-6 Manual.pdf
+│   └── Jetson-Orin-Nano-DevKit.pdf
 ├── src
 │   └── motor_python
+│       ├── config
 │       ├── __init__.py
 │       ├── __main__.py
 │       ├── cube_mars_motor.py
-│       ├── defintions.py
+│       ├── definitions.py
+│       ├── examples.py
+│       ├── motor_status_parser.py
 │       └── utils.py
 ├── tests
 │   ├── __init__.py
 │   ├── conftest.py
-│   ├── main_test.py
+│   ├── cube_mars_motor_test.py
+│   ├── motor_status_parser_test.py
 │   └── utils_test.py
 ├── .dockerignore
 ├── .gitignore

{motor_python-0.0.3 → motor_python-0.0.6}/README.md

@@ -31,11 +31,13 @@ The package can then be found at: https://pypi.org/project/motor_python
 
 from loguru import logger
 
-from motor_python import definitions
+from motor_python.cube_mars_motor import CubeMarsAK606v3
 
 def main() -> None:
     """Run a simple demonstration."""
-    logger.info("Hello World!")
+    motor = CubeMarsAK606v3()
+    motor.get_status()
+    motor.set_position(position_degrees=0.0)
 
 if __name__ == "__main__":
     main()
@@ -49,17 +51,32 @@ uv run python -m motor_python
 ## Structure
 <!-- TREE-START -->
 ```
+├── Test Rig CAD files
+│   ├── Foot.3mf
+│   ├── Jetson_Mount.3mf
+│   ├── Leg_with_2_IMU's.3mf
+│   ├── Motor_Case.3mf
+│   ├── Rod_Adapter_Jetson.3mf
+│   ├── Rod_Adapter_Motor.3mf
+│   └── Spool_V2.3mf
+├── docs
+│   ├── AK60-6 Manual.pdf
+│   └── Jetson-Orin-Nano-DevKit.pdf
 ├── src
 │   └── motor_python
+│       ├── config
 │       ├── __init__.py
 │       ├── __main__.py
 │       ├── cube_mars_motor.py
-│       ├── defintions.py
+│       ├── definitions.py
+│       ├── examples.py
+│       ├── motor_status_parser.py
 │       └── utils.py
 ├── tests
 │   ├── __init__.py
 │   ├── conftest.py
-│   ├── main_test.py
+│   ├── cube_mars_motor_test.py
+│   ├── motor_status_parser_test.py
 │   └── utils_test.py
 ├── .dockerignore
 ├── .gitignore

{motor_python-0.0.3 → motor_python-0.0.6}/pyproject.toml

@@ -1,15 +1,16 @@
 [project]
 name = "motor_python"
-version = "0.0.3"
-description = "Motor module for exosuit"
+version = "0.0.6"
+description = "CubeMars motor module for Aries exosuits."
 readme = "README.md"
 authors = [{ name = "Tsmorz", email = "tony.smoragiewicz@tum.de"},{ name = "Hannes", email = "hannes.nguyen@tum.de" }]
 requires-python = ">=3.11,<3.14"
 
 # --- Core dependencies: NO hardware here ---
 dependencies = [
-  "numpy>=2.2.3",
-  "loguru>=0.7.3",
+    "numpy>=2.2.3",
+    "loguru>=0.7.3",
+    "pyserial>=3.5",
 ]
 
 [dependency-groups]
@@ -22,7 +23,10 @@ dev = [
   "coveralls>=4.0.1",
   "pyright>=1.1.407",
 ]
-
+hw = [
+]
+no_hw = [
+]
 [project.urls]
 homepage = "https://github.com/TUM-Aries-Lab/motor-module"
 

{motor_python-0.0.3 → motor_python-0.0.6}/src/motor_python/__init__.py

@@ -1,3 +1,3 @@
 """Sample doc string."""
 
-__version__ = "0.0.3"
+__version__ = "0.0.6"

motor_python-0.0.6/src/motor_python/__main__.py

@@ -0,0 +1,87 @@
+"""Motor control main entry point using CubeMarsAK606v3 class."""
+
+import argparse
+import time
+
+from loguru import logger
+
+from motor_python.cube_mars_motor import CubeMarsAK606v3
+from motor_python.definitions import DEFAULT_LOG_LEVEL, LogLevel
+from motor_python.examples import run_motor_loop
+from motor_python.utils import setup_logger
+
+
+def main(
+    log_level: str = DEFAULT_LOG_LEVEL, stderr_level: str = DEFAULT_LOG_LEVEL
+) -> None:
+    """Run the main motor control loop.
+
+    :param log_level: The log level to use.
+    :param stderr_level: The std err level to use.
+    :return: None
+    """
+    setup_logger(log_level=log_level, stderr_level=stderr_level)
+    logger.info("Starting motor control loop...")
+
+    # Use the CubeMarsAK606v3 class with context manager
+    try:
+        motor = CubeMarsAK606v3()
+    except Exception as e:
+        logger.error(f"Failed to initialize motor controller: {e}")
+        return
+
+    with motor:
+        if not motor.connected or not motor.check_communication():
+            logger.warning(
+                "Motor hardware not connected - cannot run motor test"
+                if not motor.connected
+                else "Motor is connected but not responding - hardware may be powered off or cables disconnected"
+            )
+            return
+
+        logger.info("Testing motor feedback response...")
+
+        # Query motor status at startup
+        logger.info("Initial motor status query:")
+        motor.get_status()
+        time.sleep(0.5)
+
+        # Run the motor control loop with all modes
+        try:
+            run_motor_loop(motor)
+        except KeyboardInterrupt:
+            logger.info("Interrupted by user")
+
+        # Stop motor safely
+        logger.info("Stopping motor...")
+        motor.stop()
+
+        # Final status
+        logger.info("Final motor status:")
+        motor.get_status()
+        time.sleep(0.5)
+
+    logger.info("Motor control loop complete!")
+
+
+if __name__ == "__main__":  # pragma: no cover
+    parser = argparse.ArgumentParser("Run the pipeline.")
+    parser.add_argument(
+        "--log-level",
+        default=DEFAULT_LOG_LEVEL,
+        choices=list(LogLevel()),
+        help="Set the log level.",
+        required=False,
+        type=str,
+    )
+    parser.add_argument(
+        "--stderr-level",
+        default=DEFAULT_LOG_LEVEL,
+        choices=list(LogLevel()),
+        help="Set the std err level.",
+        required=False,
+        type=str,
+    )
+    args = parser.parse_args()
+
+    main(log_level=args.log_level)