motor-python 0.0.8__tar.gz → 0.0.9__tar.gz

{motor_python-0.0.8 → motor_python-0.0.9}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.5
 Name: motor_python
-Version: 0.0.8
+Version: 0.0.9
 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 Nguyen <hannes.nguyen@tum.de>
@@ -149,10 +149,10 @@ from motor_python.cube_mars_motor import CubeMarsAK606v3
 | Method | Purpose |
 | --- | --- |
 | `set_position(position_degrees)` | MIT-backed position command |
-| `set_velocity(velocity_erpm, allow_low_speed=False)` | MIT-backed velocity command |
+| `set_velocity(velocity_erpm)` | MIT-backed velocity command. Zero releases the motor via `stop()` |
 | `set_current(current_amps)` | Interpreted as MIT torque feedforward |
 | `set_mit_mode(pos_rad, vel_rad_s, kp, kd, torque_ff_nm)` | Direct MIT command |
-| `stop()` | Neutral MIT command and disable |
+| `stop()` | Neutral MIT command, disable MIT mode, release the motor |
 
 ## Useful Bench Scripts
 

{motor_python-0.0.8 → motor_python-0.0.9}/README.md

@@ -135,10 +135,10 @@ from motor_python.cube_mars_motor import CubeMarsAK606v3
 | Method | Purpose |
 | --- | --- |
 | `set_position(position_degrees)` | MIT-backed position command |
-| `set_velocity(velocity_erpm, allow_low_speed=False)` | MIT-backed velocity command |
+| `set_velocity(velocity_erpm)` | MIT-backed velocity command. Zero releases the motor via `stop()` |
 | `set_current(current_amps)` | Interpreted as MIT torque feedforward |
 | `set_mit_mode(pos_rad, vel_rad_s, kp, kd, torque_ff_nm)` | Direct MIT command |
-| `stop()` | Neutral MIT command and disable |
+| `stop()` | Neutral MIT command, disable MIT mode, release the motor |
 
 ## Useful Bench Scripts
 

{motor_python-0.0.8 → motor_python-0.0.9}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "motor_python"
-version = "0.0.8"
+version = "0.0.9"
 description = "CubeMars motor module for Aries exosuits."
 readme = "README.md"
 authors = [{ name = "Tsmorz", email = "tony.smoragiewicz@tum.de"},{ name = "Hannes Nguyen", email = "hannes.nguyen@tum.de" }]

{motor_python-0.0.8 → motor_python-0.0.9}/src/motor_python/__init__.py

@@ -5,7 +5,7 @@ Legacy UART interface: CubeMarsAK606v3.
 Base class: BaseMotor (for shared interface & safety logic).
 """
 
-__version__ = "0.0.8"
+__version__ = "0.0.9"
 
 from typing import Literal
 

{motor_python-0.0.8 → motor_python-0.0.9}/src/motor_python/cube_mars_motor_can.py

@@ -1503,7 +1503,26 @@ class CubeMarsBaseCAN(BaseMotor):
         - Extended ID: ``(0x08 << 8) | motor_id``
         - Payload order: ``KP, KD, Position, Speed, Torque`` bit-packed in 8 bytes.
         - Limits are taken from the currently selected motor profile.
+
+        Gains are not defaulted to anything torque-producing on purpose: a
+        caller asking for a pure feed-forward torque needs ``kd`` to stay at
+        zero, and changing that would alter the torque every correct caller
+        already gets. A velocity commanded with ``kd`` at zero cannot act
+        though -- see the warning below -- so that case is reported rather
+        than silently absorbed.
         """
+        if vel_rad_s != 0.0 and kd == 0.0:
+            # tau = t_ff + kp * pos_err + kd * vel_err, so with kd at zero the
+            # velocity term contributes nothing and the command cannot make
+            # the motor turn. Nothing else reports this: the frame is valid,
+            # the motor answers normally, and the shaft simply does not move.
+            logger.warning(
+                f"MIT command carries {vel_rad_s:.3f} rad/s with kd=0, so the "
+                f"velocity term produces no torque and the motor will not "
+                f"follow it. Pass kd explicitly (this motor's profile value is "
+                f"{self._mit_velocity_kd}) or call set_velocity()."
+            )
+
         if not self.connected:
             logger.warning("Cannot send MIT command - CAN bus not connected")
             return