Python SDK for the Motor-Drive-Layer C++ ABI
Project description
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.
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.
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.
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