feathersdk.robot.actuators.robstride.params Module¶

Data classes and enums for the Robstride motor parameters/types

class feathersdk.robot.actuators.robstride.params.RobstrideMotorError(value)¶

Bases: UniqueEnum

Errors that can be returned in the CAN ID of a feedback message.

Positive values are for motor feedback errors, negative values are for fault feedback errors. All errors are powers of 2. So abs(value) is the error bit position.

UnderVoltage = 0¶

OverCurrent = 1¶

OverTemperature = 2¶

MagneticEncoding = 3¶

GridlockOverload = 4¶

DriverChipFault = 5¶

OverVoltage = 6¶

EncoderNotCalibrated = 7¶

APhaseOvercurrent = 8¶

BPhaseOvercurrent = 9¶

CPhaseOvercurrent = 10¶

HardwareIdentificationFault = 11¶

PositionInitializationFault = 12¶

static parse_motor_feedback_errors(extra_byte)¶

Parse the errors from the extra byte of the can_id of a feedback message into a bit-packed integer.

Can be unpacked with the RobstrideMotorError.packed_int_to_errors method.

Parameters:: extra_byte (int)
Return type:: int

static parse_fault_feedback_errors(fault_bytes)¶

Parse the fault feedback errors from the fault feedback message into a bit-packed integer.

Can be unpacked with the RobstrideMotorError.packed_int_to_errors method.

Parameters:: fault_bytes (int)
Return type:: int

static errors_to_packed_int(errors)¶

Convert an iterable of errors to an integer with the bits set for the errors.

Parameters:: errors (Iterable[RobstrideMotorError])
Return type:: int

static packed_int_to_errors(packed_int)¶

Convert a packed integer to an iterable of errors.

Parameters:: packed_int (int)
Return type:: Set[RobstrideMotorError]

static max_value()¶

Get the maximum value for a bit-packed integer of errors.

Return type:: int