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Update servo_serial.py #5

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33 changes: 23 additions & 10 deletions src/TMotorCANControl/servo_serial.py
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,20 @@
'Kt': 0.115, # Nm before gearbox per A of qaxis current
'GEAR_RATIO': 9, # 9:1 gear ratio
'NUM_POLE_PAIRS' : 21 # 21 pole pairs
}
},
'AK60-6': {
'Type' : 'AK60-6', # AK60-6 V1.1 name of motor to print out in diagnostics
'P_min' : -628.31, # rad (-100 turns limit)
'P_max' : 628.31, # rad (100 turns limit)
'V_min' : -100.0, # rad/s (-58.18 rad/s limit)
'V_max' : 100.0, # rad/s (58.18 rad/s limit)
'Curr_min' : -15.0,# A (-60A is the acutal limit)
'Curr_max' : 15.0, # A (60A is the acutal limit)
'Temp_max' : 50.0, # max mosfet temp in deg C
'Kt': 0.115, # Nm before gearbox per A of qaxis current
'GEAR_RATIO': 6, # 6:1 gear ratio
'NUM_POLE_PAIRS' : 2 # actually 14 pole pairs
}
}
"""
Dictionary with the default parameters for the motors, indexed by their name
Expand Down Expand Up @@ -589,11 +602,11 @@ def __enter__(self):

# tell the motor to send back all parameters
# TODO expand to allow user to only request some data, could be faster
self.set_motor_parameter_return_format_all()
self.comm_set_motor_parameter_return_format_all()
self.send_command()

# tell motor to send current position (for some reason current position is not in the other parameters)
self.begin_position_feedback()
self.comm_begin_position_feedback()
self.send_command()

# don't do anything else
Expand Down Expand Up @@ -621,7 +634,7 @@ def __exit__(self, etype, value, tb):
self._reader_thread.stop()

# power down motor
self._ser.write(self.set_duty_cycle(0.0))
self._ser.write(self.comm_set_duty_cycle(0.0))

# end serial connection
self._ser.close()
Expand All @@ -635,9 +648,9 @@ def check_connection(self):
For now, just sends some parameter read commands and waits 0.2 seconds to
see if we got a response.
"""
self._send_specific_command(self.get_motor_parameters())
self._send_specific_command(self.get_motor_parameters())
self._send_specific_command(self.get_motor_parameters())
self._send_specific_command(self.comm_get_motor_parameters())
self._send_specific_command(self.comm_get_motor_parameters())
self._send_specific_command(self.comm_get_motor_parameters())
# slight delay to ensure connection!
time.sleep(0.2)
return self._updated_async
Expand Down Expand Up @@ -681,7 +694,7 @@ def parse_position_feedback_async(self, data):
Args:
data: The data array to parse the position from.
"""
self._motor_state_async.position = -float(buffer_get_int32(data, 1))/1000.0
self._motor_state_async.position = -float(buffer_get_int32(data, 1))/10000.0

def parse_set_position_feedback_async(self, data):
"""
Expand Down Expand Up @@ -796,7 +809,7 @@ def power_off(self):
There is no official power off command that I can see, so this will
set the duty cycle to 0.0
"""
self.set_duty_cycle(0.0)
self.comm_set_duty_cycle(0.0)
self.send_command()

def enter_idle_mode(self):
Expand Down Expand Up @@ -937,7 +950,7 @@ def comm_set_position_velocity(self, pos, vel, acc, set_command=True):
"""
# 4 byte pos * 1000, 4 byte vel * 1, 4 byte a * 1
buffer=[]
buffer_append_int32(buffer, int(pos*1000000))
buffer_append_int32(buffer, int(pos*1000))
buffer_append_int32(buffer, int(vel))
buffer_append_int32(buffer, int(acc))
data = [COMM_PACKET_ID.COMM_SET_POS_SPD] + buffer
Expand Down