motor-python 0.0.4__tar.gz → 0.0.6__tar.gz

{motor_python-0.0.4 → motor_python-0.0.6}/PKG-INFO

@@ -1,7 +1,7 @@
 Metadata-Version: 2.4
 Name: motor_python
-Version: 0.0.4
-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
@@ -44,11 +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()
@@ -59,21 +61,20 @@ if __name__ == "__main__":
 uv run python -m motor_python
 ```
 
-## Testing
-
-### Unit Tests (No Hardware Required)
-Run unit tests without hardware (using mocks):
-```bash
-make test          # Run unit tests only (no hardware required)
-make test-hardware # Run hardware integration tests (requires motor connected)
-make test-all      # Run all tests including hardware tests (full coverage)
-```
-
-**Note:** Hardware tests are skipped automatically if motor hardware is not available.
-
 ## 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
@@ -88,7 +89,6 @@ make test-all      # Run all tests including hardware tests (full coverage)
 │   ├── __init__.py
 │   ├── conftest.py
 │   ├── cube_mars_motor_test.py
-│   ├── hardware_test.py
 │   ├── motor_status_parser_test.py
 │   └── utils_test.py
 ├── .dockerignore

{motor_python-0.0.4 → 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()
@@ -46,21 +48,20 @@ if __name__ == "__main__":
 uv run python -m motor_python
 ```
 
-## Testing
-
-### Unit Tests (No Hardware Required)
-Run unit tests without hardware (using mocks):
-```bash
-make test          # Run unit tests only (no hardware required)
-make test-hardware # Run hardware integration tests (requires motor connected)
-make test-all      # Run all tests including hardware tests (full coverage)
-```
-
-**Note:** Hardware tests are skipped automatically if motor hardware is not available.
-
 ## 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
@@ -75,7 +76,6 @@ make test-all      # Run all tests including hardware tests (full coverage)
 │   ├── __init__.py
 │   ├── conftest.py
 │   ├── cube_mars_motor_test.py
-│   ├── hardware_test.py
 │   ├── motor_status_parser_test.py
 │   └── utils_test.py
 ├── .dockerignore

{motor_python-0.0.4 → motor_python-0.0.6}/pyproject.toml

@@ -1,7 +1,7 @@
 [project]
 name = "motor_python"
-version = "0.0.4"
-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"
@@ -52,13 +52,6 @@ quote-style = "double"
 indent-style = "space"
 line-ending = "lf"
 
-[tool.pytest.ini_options]
-markers = [
-    "hardware: tests that require actual motor hardware (deselect with '-m \"not hardware\"')",
-]
-testpaths = ["tests"]
-pythonpath = ["src"]
-
 [build-system]
 requires = ["hatchling"]
 build-backend = "hatchling.build"

{motor_python-0.0.4 → motor_python-0.0.6}/src/motor_python/__init__.py

@@ -1,3 +1,3 @@
 """Sample doc string."""
 
-__version__ = "0.0.4"
+__version__ = "0.0.6"

{motor_python-0.0.4 → motor_python-0.0.6}/src/motor_python/cube_mars_motor.py

@@ -233,19 +233,20 @@ class CubeMarsAK606v3:
     def set_position(self, position_degrees: float) -> None:
         """Set motor position in degrees.
 
-        Limited to ±360° for exosuit joint safety.
+        Hardware limited to approximately ±2147.5° (~6 rotations) due to int32 encoding.
 
-        :param position_degrees: Target position in degrees (±360° = ±1 rotation)
+        :param position_degrees: Target position in degrees
         :return: None
         """
+        # Check hardware limits (int32 range)
         if (
             position_degrees > MOTOR_LIMITS.max_position_degrees
             or position_degrees < MOTOR_LIMITS.min_position_degrees
         ):
             logger.warning(
-                f"Position {position_degrees:.2f}° exceeds limits "
-                f"[{MOTOR_LIMITS.min_position_degrees:.2f}°, {MOTOR_LIMITS.max_position_degrees:.2f}°]. "
-                f"Clamping to safe range."
+                f"Position {position_degrees:.2f}° exceeds hardware limits "
+                f"[{MOTOR_LIMITS.min_position_degrees:.1f}°, {MOTOR_LIMITS.max_position_degrees:.1f}°]. "
+                f"Clamping to hardware range."
             )
         position_degrees = np.clip(
             position_degrees,

{motor_python-0.0.4 → motor_python-0.0.6}/src/motor_python/definitions.py

@@ -139,8 +139,8 @@ class MotorLimits:
     min_current_amps: float = -60.0  # Minimum current in amps
     max_velocity_electrical_rpm: int = 100000  # Maximum velocity in Electrical RPM
     min_velocity_electrical_rpm: int = -100000  # Minimum velocity in Electrical RPM
-    max_position_degrees: float = 360.0  # Maximum position: 1 full rotation
-    min_position_degrees: float = -360.0  # Minimum position: -1 full rotation
+    max_position_degrees: float = 2147.483647  # Maximum position based on int32 limit
+    min_position_degrees: float = -2147.483648  # Minimum position based on int32 limit
     max_movement_time: float = 5.0  # Maximum movement time cap in seconds
 
 

{motor_python-0.0.4 → motor_python-0.0.6}/src/motor_python/examples.py

@@ -22,7 +22,7 @@ def run_position_control(
     for step in range(num_steps):
         # Sine wave: -max_angle_degrees to +max_angle_degrees over num_steps
         angle = max_angle_degrees * math.sin(step * 2 * math.pi / num_steps)
-        motor.set_position(position_degrees=angle)
+        motor.set_position(angle)
         time.sleep(0.1)
 
         # Query status periodically
@@ -38,16 +38,16 @@ def run_velocity_control(motor: CubeMarsAK606v3, velocity_erpm: int = 5000) -> N
     :return: None
     """
     logger.info("Forward velocity...")
-    motor.set_velocity(velocity_erpm=velocity_erpm)  # Forward
+    motor.set_velocity(velocity_erpm)  # Forward
     time.sleep(0.5)
     motor.get_status()
 
     logger.info("Reverse velocity...")
-    motor.set_velocity(velocity_erpm=-velocity_erpm)  # Reverse
+    motor.set_velocity(-velocity_erpm)  # Reverse
     time.sleep(0.5)
     motor.get_status()
 
-    motor.set_velocity(velocity_erpm=0)  # Stop
+    motor.set_velocity(0)  # Stop
 
 
 def run_duty_cycle_control(motor: CubeMarsAK606v3) -> None:
@@ -57,7 +57,7 @@ def run_duty_cycle_control(motor: CubeMarsAK606v3) -> None:
     :return: None
     """
     for duty in [0.1, 0.0, -0.1, 0.0]:
-        motor.set_duty_cycle(duty_cycle_percent=duty)
+        motor.set_duty_cycle(duty)
         time.sleep(0.3)
     motor.get_status()
 
@@ -69,7 +69,7 @@ def run_current_control(motor: CubeMarsAK606v3) -> None:
     :return: None
     """
     for current in [1.0, 0.0, -1.0, 0.0]:
-        motor.set_current(current_amps=current)
+        motor.set_current(current)
         time.sleep(0.3)
     motor.get_status()