DaMiao Motor Python Driver

Python driver for DaMiao brushless motors over CAN with a unified CLI, web GUI, and library API.

Quick links

Highlights

• Control modes: MIT, POS_VEL, VEL, FORCE_POS
• Typical motor types: 3507, 4310, 4340, 6006, 8006, 8009, 10010/L
• Unified CLI: damiao scan, send-cmd-*, register tools, and damiao gui
• Python API for multi-motor control with continuous feedback polling

Installation

pip install damiao-motor

Requirements: Linux + CAN interface (socketcan on can0, etc.). Set CAN bitrate to match your motor before running commands.

Quick start

Safety: these examples can move hardware. Secure the motor and keep clear of moving parts.

python examples/example.py

Edit examples/example.py to set motor_id, feedback_id, motor_type, and channel.

from damiao_motor import DaMiaoController

controller = DaMiaoController(channel="can0", bustype="socketcan")
motor = controller.add_motor(motor_id=0x01, feedback_id=0x00, motor_type="4340")

controller.enable_all()
motor.ensure_control_mode("MIT")
motor.send_cmd_mit(
    target_position=1.0,
    target_velocity=0.0,
    stiffness=20.0,
    damping=0.5,
    feedforward_torque=0.0,
)

state = motor.get_states()
print(state["pos"], state["vel"], state["torq"])
controller.shutdown()

Control laws

MIT mode (impedance control)

T_ref  = Kp * (p_des - theta_m) + Kd * (v_des - dtheta_m) + tau_ff
iq_ref = T_ref / K_T
id_ref = 0

Full mode documentation:

• MIT / POS_VEL / VEL / FORCE_POS overview

CLI commands

All damiao subcommands require --motor-type (example: 4340).

Web GUI

damiao gui

Open the local web UI (default to http://127.0.0.1:5000).

GUI docs: Web GUI guide

API reference

• DaMiaoController(channel, bustype)
• controller.add_motor(motor_id, feedback_id, motor_type)
• motor.ensure_control_mode(mode)
• motor.send_cmd_mit(...)
• motor.send_cmd_pos_vel(...)
• motor.send_cmd_vel(...)
• motor.send_cmd_force_pos(...)
• motor.send_cmd(...)
• motor.get_states()
• motor.get_register(...) / motor.write_register(...)

API docs:

• Controller API
• Motor API