motor-drive-layer 0.5.4

Python SDK for the Motor-Drive-Layer C++ ABI

motor-drive-layer

Python bindings for the Motor-Drive-Layer native C++ Damiao motor driver.

The package loads the bundled C ABI library through Python ctypes and exposes SocketCAN, SocketCAN-FD, Damiao serial bridge, and optional DM_Device transports. Published wheels cover Linux x86_64/ARM64, macOS Intel/Apple Silicon, and Windows x64. The serial transport is cross-platform; SocketCAN transports remain Linux-only.

Use Motor.request_fresh_state(timeout_ms=50) when the caller must wait for a newly requested feedback frame. For multiple motors, Controller.request_feedback_all(timeout_ms=50) sends every request with the configured TX pacing and waits against one shared deadline; a timeout reports the missing motor IDs. The lower-level request_feedback(), get_state(), and poll_feedback_once() methods remain non-blocking asynchronous/cache operations.

The wheel includes py.typed and .pyi declarations for editor completion and static type checking. The main public APIs are:

• Controller(...), from_socketcanfd(...), from_dm_serial(...), and from_dm_device(...).
• Controller.add_damiao_motor(...), enable_all(), disable_all(), request_feedback_all(), set_tx_gap_us(), shutdown(), and close_bus().
• Motor.enable(), disable(), ensure_mode(), all four control-mode send methods, fresh/cached feedback methods, typed register access, parameter aliases, and store_parameters().
• MotorState, FeedbackStats, Mode, register metadata/constants, and SDK exception classes.

Motor is a logical child of its creating Controller. After the parent closes, motor operations raise CallError; motor.close() can still release the handle. Both classes support context managers. Leaving a Motor context only frees its handle, while leaving a Controller context attempts to disable all motors before closing the bus.

See the project README for build instructions, architecture, configuration, safety guidance, and examples.

This package is distributed under the MIT License. The optional DM_Device vendor runtime is distributed separately and may have its own license terms.