damiao-motor 1.0.6

Python driver for DaMiao motors

DaMiao Motor Python Driver

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

Quick links

Resource	Link
Documentation home	GitHub Pages docs
Control modes and control laws	Motor Control Modes
API reference	DaMiaoController API
Firmware reference	DaMiao motor firmware (Gitee)
Source code	GitHub repository

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).

Command	Purpose
damiao scan --motor-type 4340	Scan bus for motors
damiao send-cmd-mit --motor-type 4340 --id 1	MIT command
damiao send-cmd-pos-vel --motor-type 4340 --id 1	POS_VEL command
damiao send-cmd-vel --motor-type 4340 --id 1	VEL command
damiao send-cmd-force-pos --motor-type 4340 --id 1	FORCE_POS command
damiao set-zero-command --motor-type 4340 --id 1	Zero hold command
damiao set-zero-position --motor-type 4340 --id 1	Set current position to zero
damiao set-can-timeout --motor-type 4340 --id 1 --timeout-ms 1000	Set CAN timeout (reg 9)
damiao set-motor-id / damiao set-feedback-id	Change IDs (reg 8 / reg 7)
damiao gui	Launch web GUI

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