feathersdk.robot.motors.motors_manager Module

class feathersdk.robot.motors.motors_manager.CalibrationState(*values)

Bases: Enum

Represents the calibration and health state of a motor system.

CALIBRATION_FAILED = 'calibration_failed'

HEALTHY = 'healthy'

OUT_OF_RANGE = 'out_of_range'

RECALIBRATING = 'recalibrating'

UNCALIBRATED = 'uncalibrated'

UNINITIALIZED = 'uninitialized'

class feathersdk.robot.motors.motors_manager.CalibrationWarnings(*values)

Bases: Flag

HOMING_POSITION_NONZERO = 2

LOWER_LIMIT_MISMATCH = 4

NONE = 0

RANGE_MISMATCH = 1

UPPER_LIMIT_MISMATCH = 8

class feathersdk.robot.motors.motors_manager.FamilyConfig

Bases: TypedDict

safe_stop_policy: SafeStopPolicy

exception feathersdk.robot.motors.motors_manager.MotorCalibrationError(*args: Any, **kwargs: Any)

Bases: Exception

Raised when motor calibration fails or motor doesn’t respond as expected during calibration.

exception feathersdk.robot.motors.motors_manager.MotorNotFoundError(*args: Any, **kwargs: Any)

Bases: Exception

Raised when attempting to access a motor that does not exist in the motors map.

class feathersdk.robot.motors.motors_manager.MotorsManager

Bases: object

Handles sending commands to and receiving feedback from motors. Handles caching the state of the motors. Abstractions to make it easy to work with motors.

activate_compliance_mode_deceleration_stop(*args, **kwargs)

add_motors(*args, **kwargs)

check_motors_in_range(*args, **kwargs)

compliance_mode_main(*args, **kwargs)

disable(*args, **kwargs)

enable(*args, **kwargs)

find_motors(*args, **kwargs)

get_motor(*args, **kwargs)

motor_families: Dict[str, Dict[str, RobstrideMotor]]

motor_families_compliance_threads: Dict[str, FeatherThread]

motor_families_config: Dict[str, FamilyConfig]

motors: Dict[str, RobstrideMotor]

motors_by_id: Dict[int, RobstrideMotor]

motors_in_mode(*args, **kwargs)

on_abort(*args, **kwargs)

on_can_message(*args, **kwargs)

on_fork()

on_motor_message(*args, **kwargs)

on_tcp_message(*args, **kwargs)

operation_command(*args, **kwargs)

ping(*args, **kwargs)

read_current_state_async(*args, **kwargs)

read_current_state_sync(*args, **kwargs)

read_param(*args, **kwargs)

read_param_async(*args, **kwargs)

read_param_sync(*args, **kwargs)

recover_from_power_cycle(*args, **kwargs)

send_operation_commands(*args, **kwargs)

set_run_mode(*args, **kwargs)

set_target_position(*args, **kwargs)

set_target_velocity(*args, **kwargs)

stop_compliance_mode(*args, **kwargs)

trigger_compliance_mode(*args, **kwargs)

write_param(*args, **kwargs)

zero_position(*args, **kwargs)

class feathersdk.robot.motors.motors_manager.SafeStopPolicy(*values)

Bases: Enum

COMPLIANCE_MODE = 2

DISABLE_MOTORS = 1