feathersdk.robot.actuators.sim.virtual_robstride Module

Virtual Robstride motor simulator.

class feathersdk.robot.actuators.sim.virtual_robstride.VirtualRobstrideState(*, errors=<factory>, active_reporting=False, last_active_reporting_time=0.0, telemetry, max_torque=0.0, target_angle=0.0, max_velocity=0.0, op_kp=40.0, op_kd=20.0, ki=4.0, sent_first_broadcast_frame=False, sent_fault_feedback=False, last_host_id=170, external_torque=0.0, integrals_window=<factory>, integrals_window_size=20, last_error=None, d_filt=None, d_alpha=0.3, moment_of_inertia=0.2, hard_stop_range=NumericRange(min=-inf, max=inf))

Bases: VirtualActuatorState

State of a virtual Robstride motor.

Parameters:
errors: Set[RobstrideMotorError]
active_reporting: bool
last_active_reporting_time: float
telemetry: TelemetryManager[RobstrideParamSet, RobstrideParam, TRobParamVal]
max_torque: float
target_angle: float
max_velocity: float
op_kp: float
op_kd: float
ki: float
sent_first_broadcast_frame: bool
sent_fault_feedback: bool
last_host_id: int
external_torque: float

External torque applied to the motor.

integrals_window: list[float]
integrals_window_size: int
last_error: float | None
d_filt: float | None
d_alpha: float
moment_of_inertia: float
hard_stop_range: NumericRange
update_operation_state(torque, angle, velocity, kp, kd)

Update the operation state with the given values.

Parameters:
Return type:

None

get_feedback_extra_byte()

Build the extra byte for the feedback message. First 2 bit for motor mode, then 6 bit for errors.

Return type:

int

get_fault_feedback_bytes()

Get the fault feedback bytes for the fault feedback message.

Note: I’m not exactly sure this is correct endianness since it’s hard to trigger a fault manually, but based on some previous fault feedback messages we got once, it seems to be little endian.

Return type:

bytes

static default(version, **kwargs)

Get the default state for a virtual Robstride motor.

Parameters:
Return type:

VirtualRobstrideState

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

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

feathersdk.robot.actuators.sim.virtual_robstride.default_firmware_version(version)

Get the default firmware version a virtual motor should have for the given version.

Parameters:

version (int | str | RobstrideVersion)

Return type:

str

feathersdk.robot.actuators.sim.virtual_robstride.default_broadcast_id(version, motor_id)

Get the default broadcast ID for a virtual motor.

Parameters:
Return type:

bytes

class feathersdk.robot.actuators.sim.virtual_robstride.VirtualRobstride(iface, motor_id, version, hard_stop_range=None)

Bases: VirtualActuator[VirtualRobstrideState]

Virtual Robstride motor simulator.

Parameters:

  • motor_id (int) – The motor ID to simulate. Should be in range [0x00, 0xFF].

  • version (int | str | RobstrideVersion) – The version of the Robstride motor to simulate.

  • iface (str) – The interface to use for the communication.

  • hard_stop_range (NumericRange | None) – If provided, the motor will simulate hard stops at the range boundaries. When the simulated angle reaches a boundary, velocity is zeroed and max torque for the version is reported. Used to enable virtual calibration.

send_motor_feedback(msg_op=RobstrideMotorMsg.MotorFeedback, send_ver=False)

Send a motor feedback message. If send_ver is True, will send the firmware version number instead

Parameters:
Return type:

None

send_broadcast_frame()

Send a broadcast frame. Done after things like GetDeviceId and SetID.

Return type:

None

handle_message(result)

Handle a message from the Robstride motor.

Parameters:

result (CanSocketResult | TcpSocketResult | ErrorSocketResult)

step(dt)

Step the motor simulation.

Parameters:

dt (float)

Return type:

None

close()

Close the virtual Robstride motor.

Return type:

None