damiao-motor 1.0.2

Python driver for DaMiao motors over CAN (MIT-style control, multi-motor support).

damiao-motor

Python driver for DaMiao motors over CAN, with support for multiple motors on a single bus.

Documentation: Full documentation available on GitHub Pages

Related Links:

• Motor Firmware Repository - Official DaMiao motor firmware

Installation

pip install damiao-motor

The package provides two command-line tools:

• damiao-scan: Scan for connected motors on the CAN bus

  damiao-scan
  damiao-scan --ids 1 2 3 --debug
  

• damiao-gui: Web-based GUI for viewing and editing motor parameters

  damiao-gui
  # Then open http://127.0.0.1:5000 in your browser
  

  GUI Interface:

  

  The web interface allows you to:

  • Scan for motors
  • View all register parameters in a table
  • Edit writable parameters

Quick usage

Safety note: The examples below will move the motor. Make sure the motor is securely mounted, keep clear of moving parts, and follow your lab/robot safety guidelines.

Single/multi-motor examples are in the examples/ directory. After installation you can run, for example:

python examples/multi_motor.py

Adjust motor IDs and gains in the example scripts to match your hardware.

A minimal single-motor example using the library API:

import math
import time
from damiao_motor import DaMiaoController

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

controller.enable_all()
time.sleep(0.1)

# Control loop - feedback is automatically polled in background
try:
    while True:
        target_pos = 1.0 * math.sin(2.0 * math.pi * 0.2 * time.time())
        motor.send_cmd(target_position=target_pos, target_velocity=0.0, stiffness=20.0, damping=0.5, feedforward_torque=0.0)
        # Access feedback (automatically updated in background)
        states = motor.get_states()
        if states:
            print(f"pos={states.get('pos'):.3f}, vel={states.get('vel'):.3f}")
        time.sleep(0.01)
except KeyboardInterrupt:
    controller.shutdown()