damiao-motor 1.0.4

Python driver for DaMiao motors

damiao-motor

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

• Control modes: MIT, POS_VEL, VEL, FORCE_POS
• Motor types: 3507, 4310, 4340, 6006, 8006, 8009, 10010/L, and more
• Tools: damiao CLI (scan, send-cmd-mit, send-cmd-pos-vel, send-cmd-vel, send-cmd-force-pos, set-zero-command, set-motor-id, gui, etc.) with unified interface

Docs: GitHub Pages · Firmware: DaMiao motor firmware (Gitee)

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Installation

pip install damiao-motor

Requirements: Linux, CAN interface (e.g. socketcan on can0). Bring the interface up and set bitrate to match the motor (e.g. 1 Mbps) before use.

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Quick start

Safety: Examples move the motor. Mount it securely and keep clear of moving parts.

python examples/example.py

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

Minimal code

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")  # required before send_cmd_mit in MIT mode

motor.send_cmd_mit(target_position=1.0, target_velocity=0.0, stiffness=20.0, damping=0.5, feedforward_torque=0.0)
# ... controller polls feedback in background; use motor.get_states() to read

controller.shutdown()

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CLI: damiao

All damiao subcommands require --motor-type (e.g. 4340). Use damiao <cmd> --help for options.

Command	Description
damiao scan --motor-type 4340	Scan for motors on the bus
damiao send-cmd-mit --motor-type 4340 --id 1	Send MIT control mode command
damiao send-cmd-pos-vel --motor-type 4340 --id 1	Send POS_VEL control mode command
damiao send-cmd-vel --motor-type 4340 --id 1	Send VEL control mode command
damiao send-cmd-force-pos --motor-type 4340 --id 1	Send FORCE_POS control mode command
damiao set-zero-command --motor-type 4340 --id 1	Send zero command (hold at zero)
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 (register 9)
damiao set-motor-id / damiao set-feedback-id	Change motor or feedback ID (registers 8, 7)
damiao gui	Launch web-based GUI for motor control

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Web GUI: damiao gui

damiao gui

Then open http://127.0.0.1:5000.

The interface provides:

• Connection & Motor Selection — CAN channel, Connect/Disconnect, Scan for motors, choose motor by ID
• Motor Control — Motor type, control mode (MIT, POS_VEL, VEL, FORCE_POS), target position/velocity/stiffness/damping/torque, Enable/Disable, Stop, Single/Continuous command, Set Zero, Clear Error
• Motor Feedback — Live status, position, velocity, torque, MOSFET and rotor temperature
• Register Parameters — Table of all registers with edit for writable ones
• Charts — Real-time position, velocity, and torque vs. time with zoom, export, and axis controls

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Library API

• DaMiaoController(channel, bustype) — owns the CAN bus and background feedback polling.
• controller.add_motor(motor_id, feedback_id, motor_type) — add a motor. motor_type is required (e.g. "4340").
• motor.ensure_control_mode(mode) — set register 10 to "MIT", "POS_VEL", "VEL", or "FORCE_POS" before sending commands in that mode.
• motor.send_cmd_mit(...) — send MIT mode command (position, velocity, stiffness, damping, feedforward torque)
• motor.send_cmd_pos_vel(...) — send POS_VEL mode command (position, velocity)
• motor.send_cmd_vel(...) — send VEL mode command (velocity)
• motor.send_cmd_force_pos(...) — send FORCE_POS mode command (position, velocity_limit, current_limit)
• motor.send_cmd(...) — convenience wrapper that calls the appropriate method based on control_mode
• motor.get_states() — last decoded feedback (pos, vel, torq, status, etc.).
• motor.get_register / motor.write_register — read/write registers by ID.

See the API docs for details.

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