feathersdk.robot.actuators.actuator Module

class feathersdk.robot.actuators.actuator.ActuatorConfig(*, name, id, endpoint='', shares_endpoint_with=None, requires_calibration, calibration_timeout=10.0)

Bases: PyDFrozenBaseModel

Frozen base class for all actuator configs.

Parameters:
name: str

The name of the actuator. Should be unique (ignoring case) within the robot.

id: int

The ID of the actuator. Should be unique within the robot.

endpoint: str

The endpoint to use for the communication. Will be set automatically by the manager.

shares_endpoint_with: str | List[str] | None

Name of an actuator or multiple actuators that share the same endpoint with this actuator. If set, we will probe for this actuator’s endpoint after all other actuators have been found. We check only endpoints of existing actuator names in this list. If no actuators in this list exist, we probe as normal. Otherwise, the endpoint for this actuator must be the same as the first shared actuator found in the list. This is useful for speeding up actuator endpoint detection, especially for slow-detecting actuators like the EZMotion motors.

requires_calibration: bool

Whether the actuator requires calibration.

calibration_timeout: float

The timeout for the calibration process in seconds.

has_endpoint()

Check if the motor has a communication endpoint.

Return type:

bool

set_endpoint(endpoint)

Set the communication endpoint for the motor.

Parameters:

endpoint (str)

Return type:

None

clear_endpoint()

Clear the communication endpoint for the motor.

Return type:

None

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

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

class feathersdk.robot.actuators.actuator.TActuatorConfig

Typevar bound to ActuatorConfig

alias of TypeVar(‘TActuatorConfig’, bound=ActuatorConfig)

class feathersdk.robot.actuators.actuator.ComplianceModeConfig(*, compliance_mode_torque_threshold, compliance_mode_update_dx, compliance_mode_max_velocity, compliance_mode_max_acceleration)

Bases: PyDFrozenBaseModel

Frozen base class for all compliance mode configs for actuators that can enter compliance mode.

Parameters:

  • compliance_mode_torque_threshold (float)

  • compliance_mode_update_dx (float)

  • compliance_mode_max_velocity (float)

  • compliance_mode_max_acceleration (float)

compliance_mode_torque_threshold: float

The torque threshold for compliance mode in Newtons-meters.

compliance_mode_update_dx: float

The update change in position for compliance mode. Might have different units depending on the actuator.

compliance_mode_max_velocity: float

The maximum velocity for compliance mode. Might have different units depending on the actuator.

compliance_mode_max_acceleration: float

The maximum acceleration for compliance mode. Might have different units depending on the actuator.

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

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

class feathersdk.robot.actuators.actuator.TComplianceModeConfig

Typevar bound to ComplianceModeConfig

alias of TypeVar(‘TComplianceModeConfig’, bound=ComplianceModeConfig)

class feathersdk.robot.actuators.actuator.SafeStopPolicy(value)

Bases: UniqueEnum

CANNOT_ENTER_SAFE_STOP = -1

Disable safe stop for the actuator system.

DO_NOTHING = 0

Do nothing when encountering a dangerous state.

DISABLE_ACTUATORS = 1

Call disable() on all actuators in the system when encountering a dangerous state.

COMPLIANCE_MODE = 2

Enter compliance mode for all actuators in the system when encountering a dangerous state.

class feathersdk.robot.actuators.actuator.Actuator(config, *args, **kwargs)

Bases: Configurable[TActuatorConfig], ABC, Generic[TActuatorConfig]

Base class for all actuators.

Parameters:
name: str

The unique name of the actuator.

uid: str

The unique identifier for the actuator. Defaults to the config.id of the actuator.

comms: Type[_CommsManager]

The comms manager for the actuator. Handles all low-level communication with the actuator.

system: ActuatorSystem[TActuatorSystemConfig] | None

The actuator system that this actuator belongs to.

abstractmethod enable(**kwargs)

Enable the actuator.

Parameters:

kwargs (Any)

Return type:

None

abstractmethod disable(**kwargs)

Disable the actuator.

Parameters:

kwargs (Any)

Return type:

None

in_safe_stop()

Check if the actuator is in safe stop.

Return type:

bool

trigger_safe_stop()

Trigger safe stop for the actuator system that this actuator belongs to.

Return type:

None

exception feathersdk.robot.actuators.actuator.ActuatorCalibrationError

Bases: Exception

Raised when an error occurs during actuator calibration.

feathersdk.robot.actuators.actuator.calibrate_actuator_group(actuators, allow_load=False, only_load=False, home=True, multithreaded=True)

Recalibrate a group of actuators.

Parameters:

  • actuators (List[Actuator[TActuatorConfig]]) – The list of actuators to calibrate.

  • allow_load (bool) – If True, allow the actuators to load calibration state from file instead of recalibrating.

  • only_load (bool) – If True, only load calibration state from file, do not recalibrate. allow_load must be True.

  • home (bool) – If True, home the actuators after calibration.

  • multithreaded (bool) – If True, calibrate the actuators all at once in multiple threads. Otherwise, one at a time.

Return type:

None