Python bindings for moteus brushless controller
These bindings permit communication and control of moteus brushless controllers.
To use
pip3 install moteus # or 'moteus-pi3hat' on a pi3hat
See a simple example of the API in use at: simple.py
Theory
Interactions with a controller are mediated through the
moteus.Controller object. When constructed with the constructor
argument transport=None (the default) it attempts to find some
suitable link on your host system, typically the first fdcanusb or
socketcan bus it locates.
Single controller imperative operation can be conducted by using
await Controller.set_stop(), await Controller.set_position(), and
await Controller.query().
Bus-optimized usage
To optimize bus usage, it is possible to command multiple controllers simultaneously. In this mode, a "transport" must be manually constructed.
import asyncio
import math
import moteus
async def main():
transport = moteus.Fdcanusb()
c1 = moteus.Controller(id = 1)
c2 = moteus.Controller(id = 2)
while True:
print(await transport.cycle([
c1.make_position(position=math.nan, query=True),
c2.make_position(position=math.nan, query=True),
]))
asyncio.run(main())
All of the "set_" methods have a "make_" variant which is suitable to
pass to a Transport's cycle method.
This mechanism only improves performance for non-fdcanusb links, such as a pi3hat.
An example use of this mechanism can be found at: pi3hat_multiservo.py
Position mode commands
Controller.set_position and Controller.make_position have
arguments which exactly mirror the fields documented in
docs/reference.md. Omitting them (or specifying None), results in
them being omitted from the resulting register based command.
- position
- velocity
- feedforward_torque
- kp_scale
- maximum_torque
- stop_position
- watchdog_timeout
Finally, the query argument controls whether information is queried
from the controller or not.
Controlling resolution
The resolution of commands, and of returned query data, is controlled
by optional constructor arguments to Controller. By default, the
commands are all F32, and the query requests a subset of fields as
INT16. Here is an example of setting those.
pr = moteus.PositionResolution()
pr.position = moteus.INT16
pr.velocity = moteus.INT16
pr.kp_scale = moteus.F32
pr.kd_scale = moteus.F32
qr = moteus.QueryResolution()
qr.mode = moteus.INT8
qr.position = moteus.F32
qr.velocity = moteus.F32
qr.torque = moteus.F32
c = moteus.Controller(position_resolution=pr, query_resolution=qr)
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Release files for moteus 1.1.1
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
Source distribution (sdist)
| File | Size | Uploaded | |
|---|---|---|---|
| moteus-1.1.1.tar.gz | 96.8 kB | Details |
Built distribution (wheel)
| File | Interpreter | ABI | Platform | Reset |
|---|---|---|---|---|
| moteus-1.1.1-py3-none-any.whl | Python 3 | none | any | Details |
Total release size: 208.9 kB
Release files / moteus-1.1.1.tar.gz
| Download URL | moteus-1.1.1.tar.gz |
|---|---|
| Size | 96.8 kB |
| Tags | Source |
|
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| Tags | Python 3 |
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| Uploaded via |
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