feathersdk.robot.actuators.motor Module

class feathersdk.robot.actuators.motor.MotorConfig(*, name, id, endpoint='', shares_endpoint_with=None, requires_calibration, calibration_timeout=10.0, feedback_delay_threshold=0.1, feedback_delay_warning_interval=10.0, urdf_joint_name='', urdf_link_name='')

Bases: ActuatorConfig

Configuration for all motors.

Parameters:

  • name (Annotated[str, MinLen(min_length=1), MaxLen(max_length=255)])

  • id (int)

  • endpoint (str | int)

  • shares_endpoint_with (str | List[str] | None)

  • requires_calibration (bool)

  • calibration_timeout (Annotated[float, Gt(gt=0), Le(le=120.0)])

  • feedback_delay_threshold (float)

  • feedback_delay_warning_interval (float)

  • urdf_joint_name (str)

  • urdf_link_name (str)

model_config: ClassVar[ConfigDict] = {'frozen': True}

Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

class feathersdk.robot.actuators.motor.TMotorConfig

The type of the motor configuration.

alias of TypeVar(‘TMotorConfig’, bound=MotorConfig)

class feathersdk.robot.actuators.motor.Motor(config, *args, **kwargs)

Bases: Actuator[TMotorConfig, TActuatorTelemetry, TTelemetryParamCode], Generic[TMotorConfig, TActuatorTelemetry, TTelemetryParamCode]

Base class for all motors.

Parameters: