tinymovr 2.6.0__tar.gz → 3.2.0__tar.gz

{tinymovr-2.6.0 → tinymovr-3.2.0}/PKG-INFO

@@ -1,9 +1,9 @@
 Metadata-Version: 2.4
 Name: tinymovr
-Version: 2.6.0
+Version: 3.2.0
 Summary: Tinymovr Studio
 Home-page: https://github.com/yconst/Tinymovr
-Author: Yannis Chatzikonstantinou
+Author: MotionLayer P.C.
 Author-email: info@tinymovr.com
 Classifier: Programming Language :: Python :: 3
 Classifier: License :: OSI Approved :: GNU General Public License v3 or later (GPLv3+)

{tinymovr-2.6.0 → tinymovr-3.2.0}/pyproject.toml

@@ -9,6 +9,7 @@ markers = [
     "sensor_amt22: marks tests that need the amt22 sensor",
     "sensor_as5047: marks tests that need the as5047 sensor",
     "sensor_hall: marks tests that need a hall effect sensored motor",
+    "differential: marks tests that need a differential (vernier) dual-sensor setup",
     "eol: marks tests for end-of-line testing",
     "dfu: marks tests for dfu testing",
 ]

{tinymovr-2.6.0 → tinymovr-3.2.0}/setup.py

@@ -1,6 +1,6 @@
 """
 Tinymovr Setup Module
-Copyright Ioannis Chatzikonstantinou 2020-2023
+Copyright 2020-2026 MotionLayer P.C.
 
 Standard Python module for setting up the Tinymovr package
 
@@ -27,7 +27,7 @@ README = (HERE / "README.md").read_text()
 setup(
     name="tinymovr",
     # version="", #version will be taken from git tag
-    author="Yannis Chatzikonstantinou",
+    author="MotionLayer P.C.",
     author_email="info@tinymovr.com",
     description="Tinymovr Studio",
     long_description=README,
@@ -66,7 +66,7 @@ setup(
     entry_points={
         "console_scripts": [
             "tinymovr_cli=tinymovr.cli:spawn",
-            "tinymovr=tinymovr.gui:spawn",
+            "tinymovr=tinymovr.gui.gui:spawn",
             "tinymovr_dfu=tinymovr.dfu:spawn"
         ]
     },

{tinymovr-2.6.0 → tinymovr-3.2.0}/tests/test_amt22.py

@@ -1,6 +1,6 @@
 """
 Tinymovr Board Config Tests
-Copyright Ioannis Chatzikonstantinou 2020-2023
+Copyright 2020-2026 MotionLayer P.C.
 
 Tests saving and loading Tinymovr configuration to/from NVRAM.
 

{tinymovr-2.6.0 → tinymovr-3.2.0}/tests/test_as5047.py

@@ -1,6 +1,6 @@
 """
 Tinymovr Board Config Tests
-Copyright Ioannis Chatzikonstantinou 2020-2023
+Copyright 2020-2026 MotionLayer P.C.
 
 Tests saving and loading Tinymovr configuration to/from NVRAM.
 

{tinymovr-2.6.0 → tinymovr-3.2.0}/tests/test_board.py

@@ -1,6 +1,6 @@
 """
 Tinymovr Basic Board Tests
-Copyright Ioannis Chatzikonstantinou 2020-2023
+Copyright 2020-2026 MotionLayer P.C.
 
 Tests basic functionality of Tinymovr boards.
 

{tinymovr-2.6.0 → tinymovr-3.2.0}/tests/test_dfu.py

@@ -1,6 +1,6 @@
 """
 Tinymovr DFU Test Class
-Copyright Ioannis Chatzikonstantinou 2020-2023
+Copyright 2020-2026 MotionLayer P.C.
 
 Implements convenience functionality.
 

tinymovr-3.2.0/tests/test_differential.py

@@ -0,0 +1,93 @@
+"""
+Tinymovr Differential (Vernier) Mode Tests
+Copyright 2020-2026 MotionLayer P.C.
+
+Tests the differential transform-init mode, where the absolute multiturn shaft
+position is recovered from two geared sensors (vernier/nonius) during
+calibration and re-seeded on every reset.
+
+This program is free software: you can redistribute it and/or modify it under
+the terms of the GNU General Public License as published by the Free Software
+Foundation, either version 3 of the License, or (at your option) any later
+version.
+This program is distributed in the hope that it will be useful, but WITHOUT
+ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
+You should have received a copy of the GNU General Public License along with
+this program. If not, see <http://www.gnu.org/licenses/>.
+"""
+
+import time
+
+from avlos.unit_field import get_registry
+
+import unittest
+import pytest
+from tests import TMTestCase
+
+ureg = get_registry()
+tick = ureg.ticks
+tsleep = 1.50
+
+
+class TestDifferential(TMTestCase):
+
+    @pytest.mark.differential
+    def test_multiturn_position_retained_after_reset(self):
+        """The differential transform must recover the same absolute multiturn
+        shaft position after a reset, with no offset and no full-turn slip.
+        """
+        self.check_state(0)
+        self.erase_config()
+        time.sleep(0.2)
+
+        # Vernier setup: the onboard sensor is used for both commutation and
+        # position, and the geared secondary (MA7XX) on external SPI is read
+        # during calibration/seed.
+        self.configure_sensors(self.tm.sensors.setup.external_spi.type.MA7XX)
+        self.select_sensors(
+            self.tm.sensors.select.commutation_sensor.connection.ONBOARD,
+            self.tm.sensors.select.position_sensor.connection.ONBOARD,
+        )
+        self.tm.sensors.select.transform_init.mode = (
+            self.tm.sensors.select.transform_init.mode.DIFFERENTIAL
+        )
+        time.sleep(0.2)
+
+        self.try_calibrate()
+
+        self.tm.controller.velocity.p_gain = 1e-5
+
+        self.tm.controller.position_mode()
+        self.check_state(2)
+
+        # Stay within a single output-shaft turn (the vernier resolves only one
+        # turn). Sweep mid-turn, then near a full turn, and verify tracking.
+        for target in (4000 * tick, 8000 * tick):
+            self.tm.controller.position.setpoint = target
+            time.sleep(tsleep)
+            self.assertAlmostEqual(
+                self.tm.sensors.user_frame.position_estimate,
+                target,
+                delta=2000 * tick,
+            )
+
+        pos_before = self.tm.sensors.user_frame.position_estimate
+
+        self.tm.controller.idle()
+        time.sleep(0.1)
+        self.save_config()
+        time.sleep(0.2)
+
+        # After reset the origin is re-seeded purely from the two sensors.
+        self.reset_and_wait()
+
+        pos_after = self.tm.sensors.user_frame.position_estimate
+        self.assertAlmostEqual(pos_after, pos_before, delta=500 * tick)
+
+        self.erase_config()
+        time.sleep(0.2)
+
+
+if __name__ == "__main__":
+    unittest.main()

{tinymovr-2.6.0 → tinymovr-3.2.0}/tests/test_export_import.py

@@ -1,6 +1,6 @@
 """
 Tinymovr Export/Import Tests
-Copyright Ioannis Chatzikonstantinou 2020-2023
+Copyright 2020-2026 MotionLayer P.C.
 
 Tests for export/import functionality:
 - YAML spec consistency (all settable config attrs have export: True)

{tinymovr-2.6.0 → tinymovr-3.2.0}/tests/test_hall.py

@@ -1,6 +1,6 @@
 """
 Tinymovr Board Config Tests
-Copyright Ioannis Chatzikonstantinou 2020-2023
+Copyright 2020-2026 MotionLayer P.C.
 
 Tests saving and loading Tinymovr configuration to/from NVRAM.
 
@@ -28,7 +28,7 @@ ureg = get_registry()
 A = ureg.ampere
 tick = ureg.ticks
 s = ureg.second
-tsleep = 1.00
+tsleep = 0.9
 
 
 def set_pole_pairs(tm):
@@ -56,8 +56,8 @@ class TestHall(TMTestCase):
 
         self.try_calibrate(precheck_callback=set_pole_pairs)
 
-        self.tm.controller.position.p_gain = 15
-        self.tm.controller.velocity.limit = 400000
+        self.tm.controller.position.p_gain = 11
+        self.tm.controller.velocity.limit = 700000
         self.tm.controller.velocity.p_gain = 1e-5
         self.tm.controller.velocity.i_gain = 0
 
@@ -100,6 +100,69 @@ class TestHall(TMTestCase):
         self.erase_config()
         time.sleep(0.2)
 
+    @pytest.mark.sensor_hall
+    def test_b_velocity_control(self):
+        """
+        Test velocity control with Hall sensors, ramping through
+        velocities in both directions.
+        """
+        self.check_state(0)
+        self.erase_config()
+        time.sleep(0.2)
+
+        self.tm.sensors.select.position_sensor.connection = self.tm.sensors.select.position_sensor.connection.HALL
+        self.tm.sensors.select.commutation_sensor.connection = self.tm.sensors.select.commutation_sensor.connection.HALL
+
+        self.tm.sensors.select.position_sensor.bandwidth = 50
+        self.tm.sensors.select.commutation_sensor.bandwidth = 80
+        time.sleep(0.2)
+
+        self.try_calibrate(precheck_callback=set_pole_pairs)
+
+        self.tm.controller.velocity.limit = 700000
+        self.tm.controller.velocity.p_gain = 8e-6
+        self.tm.controller.velocity.i_gain = 0
+
+        self.tm.controller.velocity_mode()
+        self.check_state(2)
+
+        R = 10
+        multiplier = 60000 * tick / s
+        max_delta = 60000 * tick / s
+
+        velocity_pairs = []
+
+        for i in range(R):
+            target = i * multiplier
+            self.tm.controller.velocity.setpoint = target
+            time.sleep(tsleep)
+            velocity_pairs.append((target, self.tm.sensors.user_frame.velocity_estimate))
+
+        for i in range(R):
+            target = (R - i) * multiplier
+            self.tm.controller.velocity.setpoint = target
+            time.sleep(tsleep)
+            velocity_pairs.append((target, self.tm.sensors.user_frame.velocity_estimate))
+
+        for i in range(R):
+            target = -i * multiplier
+            self.tm.controller.velocity.setpoint = target
+            time.sleep(tsleep)
+            velocity_pairs.append((target, self.tm.sensors.user_frame.velocity_estimate))
+
+        for i in range(R):
+            target = (i - R) * multiplier
+            self.tm.controller.velocity.setpoint = target
+            time.sleep(tsleep)
+            velocity_pairs.append((target, self.tm.sensors.user_frame.velocity_estimate))
+
+        for target, estimate in velocity_pairs:
+            self.assertAlmostEqual(target, estimate, delta=max_delta)
+
+        self.tm.controller.idle()
+        self.erase_config()
+        time.sleep(0.2)
+
 
 if __name__ == "__main__":
     unittest.main()

tinymovr-3.2.0/tests/test_homing.py

@@ -0,0 +1,237 @@
+"""
+This unit test suite tests the Homing functionality.
+"""
+import time
+
+from avlos.unit_field import get_registry
+
+import unittest
+import pytest
+from tests import TMTestCase
+
+ureg = get_registry()
+A = ureg.ampere
+ticks = ureg.ticks
+s = ureg.second
+
+HOMING_WARNINGS_NONE = 0
+HOMING_WARNINGS_TIMEOUT = 1
+
+CONTROLLER_MODE_POSITION = 2
+CONTROLLER_MODE_HOMING = 4
+
+ITERATIONS_PER_DIRECTION = 2
+HOMING_SPEED = 4000.0
+FREE_TRAVEL_S = 1.5
+STALL_DWELL_EXTRA_S = 0.3
+RETRACT_SETTLE_S = 0.3
+INTER_ITERATION_PAUSE_S = 0.3
+
+
+class TestHoming(TMTestCase):
+    def test_homing(self):
+        """
+        Test Homing
+        """
+        self.check_state(0)
+        self.try_calibrate()
+
+        self.tm.controller.position_mode()
+        self.check_state(2)
+
+        self.tm.homing.home()
+        time.sleep(self.tm.homing.max_homing_t.magnitude + 0.1)
+
+        self.assertEqual(self.tm.controller.mode, 2)
+        self.assertEqual(self.tm.homing.warnings, 1)
+        self.tm.controller.idle()
+
+    @pytest.mark.hitl_default
+    @pytest.mark.hitl_mini
+    def test_homing_retraction(self):
+        """
+        Regression test for the homing retraction reference bug
+        (fix commit 86b19db).
+
+        Per-iteration flow: motor runs freely for FREE_TRAVEL_S, the current
+        limit is dropped to simulate an endstop, the planner detects the
+        stall and installs the user-frame offset, the current limit is
+        restored so the motor physically retracts to user_pos =
+        -direction*retract_dist, and a sensor-frame displacement assertion
+        verifies the physical motion matches expectation.
+
+        The bug only manifests when the user-frame offset is non-zero at the
+        start of homing (carried over from a previous run), so the test
+        runs ITERATIONS_PER_DIRECTION>=2 iterations per direction in both
+        +1 and -1 directions. See plan file for full frame analysis.
+        """
+        self.check_state(0)
+        self.try_calibrate()
+
+        iq_limit_normal = self.tm.controller.current.Iq_limit.magnitude
+        homing_velocity_saved = self.tm.homing.velocity.magnitude
+        max_homing_t_saved = self.tm.homing.max_homing_t.magnitude
+        max_stall_t_saved = self.tm.homing.stall_detect.t.magnitude
+        retract_dist_saved = self.tm.homing.retract_dist.magnitude
+        stall_vel_saved = self.tm.homing.stall_detect.velocity.magnitude
+        stall_dpos_saved = self.tm.homing.stall_detect.delta_pos.magnitude
+        user_offset_saved = self.tm.sensors.user_frame.offset.magnitude
+        user_multiplier_saved = self.tm.sensors.user_frame.multiplier
+
+        iq_limit_stall = 0.1
+
+        try:
+            self.assertAlmostEqual(
+                float(user_multiplier_saved),
+                1.0,
+                delta=1e-6,
+                msg=(
+                    "Test math assumes user_frame.multiplier == 1.0 "
+                    f"(actual: {user_multiplier_saved}). Set it to 1.0 "
+                    "before running this test."
+                ),
+            )
+
+            self.tm.homing.max_homing_t = 6.0
+            self.tm.homing.stall_detect.t = 0.3
+            self.tm.homing.retract_dist = 1024
+            self.tm.homing.stall_detect.velocity = 500
+            self.tm.homing.stall_detect.delta_pos = 256
+
+            self.tm.controller.position_mode()
+            self.check_state(2)
+
+            for direction in (+1, -1):
+                for iteration in range(ITERATIONS_PER_DIRECTION):
+                    self._run_homing_iteration(
+                        direction=direction,
+                        iteration=iteration,
+                        iq_limit_normal=iq_limit_normal,
+                        iq_limit_stall=iq_limit_stall,
+                    )
+                    time.sleep(INTER_ITERATION_PAUSE_S)
+        finally:
+            self.tm.controller.idle()
+            self.tm.controller.current.Iq_limit = iq_limit_normal
+            self.tm.homing.velocity = homing_velocity_saved
+            self.tm.homing.max_homing_t = max_homing_t_saved
+            self.tm.homing.stall_detect.t = max_stall_t_saved
+            self.tm.homing.retract_dist = retract_dist_saved
+            self.tm.homing.stall_detect.velocity = stall_vel_saved
+            self.tm.homing.stall_detect.delta_pos = stall_dpos_saved
+            self.tm.sensors.user_frame.offset = user_offset_saved
+            self.tm.sensors.user_frame.multiplier = user_multiplier_saved
+
+    def _run_homing_iteration(
+        self, direction, iteration, iq_limit_normal, iq_limit_stall
+    ):
+        """
+        Execute a single homing iteration in the given direction and verify
+        the resulting physical displacement in the sensor frame.
+
+        Returns nothing; raises AssertionError on failure.
+        """
+        retract_dist = self.tm.homing.retract_dist.magnitude
+        max_homing_t = self.tm.homing.max_homing_t.magnitude
+        stall_detect_t = self.tm.homing.stall_detect.t.magnitude
+
+        sensor_pos_before = (
+            self.tm.sensors.select.position_sensor.position_estimate.magnitude
+        )
+
+        self.tm.homing.velocity = direction * HOMING_SPEED
+        self.tm.controller.current.Iq_limit = iq_limit_normal
+        time.sleep(0.05)
+
+        self.tm.homing.home()
+
+        time.sleep(FREE_TRAVEL_S)
+
+        mode_after_free = int(self.tm.controller.mode)
+        self.assertEqual(
+            mode_after_free,
+            CONTROLLER_MODE_HOMING,
+            msg=(
+                f"dir={direction:+d} iter={iteration}: planner exited HOMING "
+                f"during free-travel phase (mode={mode_after_free}). "
+                f"FREE_TRAVEL_S ({FREE_TRAVEL_S}s) may be too long for the "
+                "current stall_detect parameters, or the motor stalled "
+                "without the simulated low-Iq endstop."
+            ),
+        )
+
+        self.tm.controller.current.Iq_limit = iq_limit_stall
+        time.sleep(stall_detect_t + STALL_DWELL_EXTRA_S)
+
+        self.tm.controller.current.Iq_limit = iq_limit_normal
+
+        timeout_s = max_homing_t + 2.0
+        deadline = time.monotonic() + timeout_s
+        while int(self.tm.controller.mode) == CONTROLLER_MODE_HOMING:
+            if time.monotonic() > deadline:
+                self.fail(
+                    f"dir={direction:+d} iter={iteration}: homing did not "
+                    f"exit within {timeout_s}s after stall induction"
+                )
+            time.sleep(0.05)
+
+        warnings = int(self.tm.homing.warnings)
+        self.assertEqual(
+            warnings,
+            HOMING_WARNINGS_NONE,
+            msg=(
+                f"dir={direction:+d} iter={iteration}: expected endstop "
+                f"detection (warnings=0) but got warnings={warnings}"
+            ),
+        )
+        self.assertEqual(
+            int(self.tm.controller.mode), CONTROLLER_MODE_POSITION
+        )
+
+        time.sleep(RETRACT_SETTLE_S)
+
+        sensor_pos_after = (
+            self.tm.sensors.select.position_sensor.position_estimate.magnitude
+        )
+        sensor_displacement = sensor_pos_after - sensor_pos_before
+        expected_displacement = direction * (
+            FREE_TRAVEL_S * HOMING_SPEED - retract_dist
+        )
+        displacement_tolerance = 0.5 * FREE_TRAVEL_S * HOMING_SPEED
+
+        self.assertAlmostEqual(
+            sensor_displacement,
+            expected_displacement,
+            delta=displacement_tolerance,
+            msg=(
+                f"dir={direction:+d} iter={iteration}: sensor-frame "
+                f"displacement is {sensor_displacement:.1f} ticks, expected "
+                f"{expected_displacement:.1f} +-{displacement_tolerance:.1f}. "
+                "A large deviation here on iteration>=1 indicates the "
+                "user-frame offset was installed in the wrong reference "
+                "frame during homing (regression of fix 86b19db). The "
+                "magnitude of the deviation should be approximately equal "
+                "to the offset carried over from the previous homing."
+            ),
+        )
+
+        user_pos = self.tm.sensors.user_frame.position_estimate.magnitude
+        expected_user_pos = -direction * retract_dist
+        user_pos_tolerance = 0.5 * retract_dist
+        self.assertAlmostEqual(
+            user_pos,
+            expected_user_pos,
+            delta=user_pos_tolerance,
+            msg=(
+                f"dir={direction:+d} iter={iteration}: user-frame position "
+                f"after homing is {user_pos:.1f} ticks, expected "
+                f"{expected_user_pos:.1f} +-{user_pos_tolerance:.1f}. This "
+                "is a self-consistency check on the planner's setpoint "
+                "tracking and does NOT detect the frame-offset bug; the "
+                "sensor-frame assertion above is the regression check."
+            ),
+        )
+
+
+if __name__ == "__main__":
+    unittest.main(failfast=True)

{tinymovr-2.6.0 → tinymovr-3.2.0}/tests/test_nvm.py

@@ -1,6 +1,6 @@
 """
 Tinymovr Board Config Tests
-Copyright Ioannis Chatzikonstantinou 2020-2023
+Copyright 2020-2026 MotionLayer P.C.
 
 Tests saving and loading Tinymovr configuration to/from NVRAM.
 
@@ -112,6 +112,34 @@ class TestNVM(TMTestCase):
         self.erase_config()
         time.sleep(0.2)
 
+    def test_c2_homing_parameter_persistence(self):
+        """
+        Test persisting homing parameters across config saves.
+        WARNING: This will perform one NVRAM write and two erase cycles.
+        """
+        self.check_state(0)
+        self.erase_config()
+        time.sleep(0.2)
+
+        self.tm.homing.velocity = 5000
+        self.tm.homing.max_homing_t = 10.0
+        self.tm.homing.retract_dist = 2000
+        self.tm.homing.stall_detect.velocity = 3000
+        self.tm.homing.stall_detect.delta_pos = 500
+        self.tm.homing.stall_detect.t = 2.0
+        self.save_config()
+
+        time.sleep(0.2)
+        self.reset_and_wait()
+        self.assertAlmostEqual(self.tm.homing.velocity, 5000 * tick / s, delta=1 * tick / s)
+        self.assertAlmostEqual(self.tm.homing.max_homing_t, 10.0 * s, delta=0.01 * s)
+        self.assertAlmostEqual(self.tm.homing.retract_dist, 2000 * tick, delta=1 * tick)
+        self.assertAlmostEqual(self.tm.homing.stall_detect.velocity, 3000 * tick / s, delta=1 * tick / s)
+        self.assertAlmostEqual(self.tm.homing.stall_detect.delta_pos, 500 * tick, delta=1 * tick)
+        self.assertAlmostEqual(self.tm.homing.stall_detect.t, 2.0 * s, delta=0.01 * s)
+        self.erase_config()
+        time.sleep(0.2)
+
     def test_d_position_control_w_loaded_config(self):
         """
         Test position control after saving and loading config.

{tinymovr-2.6.0 → tinymovr-3.2.0}/tests/test_rates.py

@@ -1,6 +1,6 @@
 """
 Tinymovr Message Rate Tests
-Copyright Ioannis Chatzikonstantinou 2020-2023
+Copyright 2020-2026 MotionLayer P.C.
 
 Tests the rate of CAN messages on the bus.
 

{tinymovr-2.6.0 → tinymovr-3.2.0}/tests/test_simulation.py

@@ -1,6 +1,6 @@
 """
 Tinymovr Simulation Tests
-Copyright Ioannis Chatzikonstantinou 2020-2023
+Copyright 2020-2026 MotionLayer P.C.
 
 Tests functionality of the Tinymovr Studio using a simulated Tinymovr device.
 

{tinymovr-2.6.0 → tinymovr-3.2.0}/tests/test_traj_planner.py

@@ -1,6 +1,6 @@
 """
 Tinymovr Trajectory Planner Tests
-Copyright Ioannis Chatzikonstantinou 2020-2023
+Copyright 2020-2026 MotionLayer P.C.
 
 Tests the functionality of the Tinymovr trajectory planner.
 

{tinymovr-2.6.0 → tinymovr-3.2.0}/tinymovr/bus_manager.py

@@ -1,6 +1,6 @@
 """
 Tinymovr BusManager Module
-Copyright Ioannis Chatzikonstantinou 2020-2023
+Copyright 2020-2026 MotionLayer P.C.
 
 Implements a BusRouter class to distribute incoming traffic according to rules
 

{tinymovr-2.6.0 → tinymovr-3.2.0}/tinymovr/bus_router.py

@@ -1,6 +1,6 @@
 """
 Tinymovr BusRouter Module
-Copyright Ioannis Chatzikonstantinou 2020-2023
+Copyright 2020-2026 MotionLayer P.C.
 
 Implements a BusRouter class to distribute incoming traffic according to rules
 

{tinymovr-2.6.0 → tinymovr-3.2.0}/tinymovr/channel.py

@@ -1,6 +1,6 @@
 """
 Tinymovr CAN Channel Module
-Copyright Ioannis Chatzikonstantinou 2020-2023
+Copyright 2020-2026 MotionLayer P.C.
 
 Implements a CAN bus communications channel
 

{tinymovr-2.6.0 → tinymovr-3.2.0}/tinymovr/cli.py

@@ -26,7 +26,7 @@ from tinymovr.config import get_bus_config, configure_logging, add_spec
 
 """
 Tinymovr CLI Module
-Copyright Ioannis Chatzikonstantinou 2020-2023
+Copyright 2020-2026 MotionLayer P.C.
 
 The Tinymovr Studio IPython-based command line interface
 

{tinymovr-2.6.0 → tinymovr-3.2.0}/tinymovr/codec/codec.py

@@ -1,6 +1,6 @@
 """
 Tinymovr Codecs Module
-Copyright Ioannis Chatzikonstantinou 2020-2023
+Copyright 2020-2026 MotionLayer P.C.
 
 Implements codecs for various datatypes.
 

{tinymovr-2.6.0 → tinymovr-3.2.0}/tinymovr/config/config.py

@@ -1,6 +1,6 @@
 """
 Tinymovr Configuration Module
-Copyright Ioannis Chatzikonstantinou 2020-2023
+Copyright 2020-2026 MotionLayer P.C.
 
 Implements functions to configure various aspects of Studio.
 

{tinymovr-2.6.0 → tinymovr-3.2.0}/tinymovr/constants.py

@@ -1,6 +1,6 @@
 """
 Tinymovr Constants
-Copyright Ioannis Chatzikonstantinou 2020-2023
+Copyright 2020-2026 MotionLayer P.C.
 
 Defines various constants used throughout Tinymovr Studio
 

{tinymovr-2.6.0 → tinymovr-3.2.0}/tinymovr/device_discovery.py

@@ -1,6 +1,6 @@
 """
 Tinymovr DeviceDiscovery Module
-Copyright Ioannis Chatzikonstantinou 2020-2023
+Copyright 2020-2026 MotionLayer P.C.
 
 Implements a class to discover nodes on the CAN bus based on
 the reception of heartbeat frames

{tinymovr-2.6.0 → tinymovr-3.2.0}/tinymovr/dfu.py

@@ -30,7 +30,7 @@ from tinymovr.channel import ResponseError
 
 """
 Tinymovr DFU Module
-Copyright Ioannis Chatzikonstantinou 2020-2023
+Copyright 2020-2026 MotionLayer P.C.
 
 The Tinymovr Studio IPython-based command line interface