feathersdk.robot.actuators.damiao.utils Module¶

feathersdk.robot.actuators.damiao.utils.write_json_file(data, file_path, *, perms=None, indent=2)¶

Atomically serialize data as JSON to file_path.

Uses feathersdk.utils.files.thread_safe_file_writer() so the file is written to a temporary location and renamed in place, avoiding partial writes if the process is interrupted.

Parameters:

data (Any) – Any JSON-serializable object.
file_path (str | Path) – Destination path.
perms (int | None) – Optional final file permissions (octal, e.g. 0o644).
indent (int) – Pretty-print indent width passed to json.dumps().

Return type:

None

feathersdk.robot.actuators.damiao.utils.read_json_file(file_path)¶

Read and parse a JSON file at file_path.

Parameters:: file_path (str | Path)
Return type:: Any

feathersdk.robot.actuators.damiao.utils.uint_to_float(x_int, x_min, x_max, bits)¶

Converts unsigned int to float, given range and number of bits.

Parameters:

x_int (int)
x_min (float)
x_max (float)
bits (int)

Return type:

float

feathersdk.robot.actuators.damiao.utils.float_to_uint(x, x_min, x_max, bits)¶

Converts a float to an unsigned int, given range and number of bits.

Parameters:

x (float)
x_min (float)
x_max (float)
bits (int)

Return type:

int

class feathersdk.robot.actuators.damiao.utils.MotorConstants(POSITION_MAX: float = 12.5, POSITION_MIN: float = -12.5, VELOCITY_MAX: float = 45, VELOCITY_MIN: float = -45, TORQUE_MAX: float = 54, TORQUE_MIN: float = -54, CURRENT_MAX: float = 1.0, CURRENT_MIN: float = -1.0, KT: float = 1.0, KP_MAX: float = 500.0, KP_MIN: float = 0.0, KD_MAX: float = 5.0, KD_MIN: float = 0.0)¶

Bases: object

Parameters:

POSITION_MAX (float)
POSITION_MIN (float)
VELOCITY_MAX (float)
VELOCITY_MIN (float)
TORQUE_MAX (float)
TORQUE_MIN (float)
CURRENT_MAX (float)
CURRENT_MIN (float)
KT (float)
KP_MAX (float)
KP_MIN (float)
KD_MAX (float)
KD_MIN (float)

POSITION_MAX: float = 12.5¶

POSITION_MIN: float = -12.5¶

VELOCITY_MAX: float = 45¶

VELOCITY_MIN: float = -45¶

TORQUE_MAX: float = 54¶

TORQUE_MIN: float = -54¶

CURRENT_MAX: float = 1.0¶

CURRENT_MIN: float = -1.0¶

KT: float = 1.0¶

KP_MAX: float = 500.0¶

KP_MIN: float = 0.0¶

KD_MAX: float = 5.0¶

KD_MIN: float = 0.0¶

class feathersdk.robot.actuators.damiao.utils.MotorInfo(id, error_code, target_torque=0, vel=0.0, eff=0, pos=0, voltage=-1, temp_mos=-1, temp_rotor=-1)¶

Bases: object

Class to represent motor information.

Variables:

id (int) – Motor ID.
target_torque (int) – Target torque value.
vel (float) – Motor speed.
eff (float) – Motor current.
pos (float) – Encoder value.
voltage (float) – Motor voltage.
temperature (float) – Motor temperature.

Parameters:

id (int)
error_code (int)
target_torque (int)
vel (float)
eff (float)
pos (float)
voltage (float)
temp_mos (float)
temp_rotor (float)

id: int¶

error_code: int¶

target_torque: int = 0¶

vel: float = 0.0¶

eff: float = 0¶

pos: float = 0¶

voltage: float = -1¶

temp_mos: float = -1¶

temp_rotor: float = -1¶

class feathersdk.robot.actuators.damiao.utils.FeedbackFrameInfo(id: int, error_code: int, error_message: str, position: float, velocity: float, torque: float, temperature_mos: float, temperature_rotor: float)¶

Bases: object

Parameters:

id (int)
error_code (int)
error_message (str)
position (float)
velocity (float)
torque (float)
temperature_mos (float)
temperature_rotor (float)

id: int¶

error_code: int¶

error_message: str¶

position: float¶

velocity: float¶

torque: float¶

temperature_mos: float¶

temperature_rotor: float¶

class feathersdk.robot.actuators.damiao.utils.EncoderInfo¶

Bases: object

encoder = -1¶

encoder_raw = -1¶

encoder_offset = -1¶

class feathersdk.robot.actuators.damiao.utils.MotorErrorCode¶

Bases: object

disabled = 0¶

normal = 1¶

over_voltage = 8¶

under_voltage = 9¶

over_current = 10¶

mosfet_over_temperature = 11¶

motor_over_temperature = 12¶

loss_communication = 13¶

overload = 14¶

motor_error_code_dict = {0: 'disabled', 1: 'normal', 8: 'over voltage', 9: 'under voltage', 10: 'over current', 11: 'mosfet over temperature', 12: 'motor over temperature', 13: 'loss communication', 14: 'overload'}¶

classmethod get_error_message(error_code)¶

Parameters:: error_code (int)
Return type:: str

class feathersdk.robot.actuators.damiao.utils.MotorType¶

Bases: object

DM4310 = 'DM4310'¶

classmethod get_motor_constants(motor_type=None)¶

Get motor constants for DM4310.

Parameters:: motor_type (str) – Optional motor type (ignored, kept for compatibility).
Returns:: MotorConstants for DM4310.
Return type:: MotorConstants

class feathersdk.robot.actuators.damiao.utils.AutoNameEnum(value)¶: Bases: Enum

class feathersdk.robot.actuators.damiao.utils.ReceiveMode(value)¶

Bases: AutoNameEnum

p16 = 'p16'¶

same = 'same'¶

zero = 'zero'¶

plus_one = 'plus_one'¶

get_receive_id(motor_id)¶

Parameters:: motor_id (int)
Return type:: int

to_motor_id(receive_id)¶

Parameters:: receive_id (int)
Return type:: int

class feathersdk.robot.actuators.damiao.utils.RawCanInterface(channel='PCAN_USBBUS1', bustype='pcan', bitrate=1000000, name='default_can_interface')¶

Bases: object

Parameters:

channel (str)
bustype (str)
bitrate (int)
name (str)

close()¶

Shut down the CAN bus.

Return type:: None

try_receive_message(motor_id=None, timeout=0.009)¶

Try to receive a message from the CAN bus.

Parameters:

timeout (float) – The time to wait for a message (in seconds).
motor_id (int | None)

Returns:

The received message, or None if no message is received.

Return type:

can.Message

feathersdk.robot.actuators.damiao.utils.bytes_to_uint32(data)¶

Convert the last 4 bytes (data[4:8]) in a bytearray to uint32 (little-endian).

Parameters:: data (bytearray)
Return type:: int

feathersdk.robot.actuators.damiao.utils.bytes_to_float32(data)¶

Convert the last 4 bytes (data[4:8]) in a bytearray to float32 (little-endian).

Parameters:: data (bytearray)
Return type:: float

feathersdk.robot.actuators.damiao.utils.uint32_to_bytes(value)¶

Convert a uint32 value to a 4-byte bytearray (little-endian).

Parameters:: value (int) – A uint32 value to be converted to bytes.
Returns:: The corresponding 4-byte representation in little-endian order.
Return type:: bytearray

feathersdk.robot.actuators.damiao.utils.float32_to_bytes(value)¶

Convert a float32 value to a 4-byte bytearray (little-endian).

Parameters:: value (float) – A float32 value to be converted to bytes.
Returns:: The corresponding 4-byte representation in little-endian order.
Return type:: bytearray

feathersdk.robot.actuators.damiao.utils.get_special_message_response(can_interface, motor_id, reg_name)¶

Get the current value of a register from a motor.

Parameters:

can_interface (RawCanInterface) – The CAN interface to use.
motor_id (int) – The ID of the motor to read the register value from.
reg_name (str) – The name of the register to read.

Returns:

The value read from the register.

Return type:

Any

feathersdk.robot.actuators.damiao.utils.write_special_message(can_interface, motor_id, reg_name, data)¶

Write a value to a register of a motor.

Parameters:

can_interface (RawCanInterface) – The CAN interface to use.
motor_id (int) – The ID of the motor to write the register value for.
reg_name (str) – The name of the register to write.
data (Any) – The value to write to the register.

Returns:

The value read from the register after writing.

Return type:

Any

feathersdk.robot.actuators.damiao.utils.save_to_memory(can_interface, motor_id, reg_name)¶

Save the current value of a register to the motor’s memory.

Parameters:

can_interface (RawCanInterface) – The CAN interface to use.
motor_id (int) – The ID of the motor to save the register value for.
reg_name (str) – The name of the register to save.

Returns:

The response message from the motor.

Return type:

can.Message