feathersdk.robot.robstride_neck_platform Module

class feathersdk.robot.robstride_neck_platform.RobstrideNeckPlatform(motors_manager: MotorsManager, power: BatterySystem = None, config: dict = {})

Bases: NeckPlatform

Platform for controlling Robstride neck motors (pitch and yaw).

This class manages the neck platform with two motors: pitch (NpC) and yaw (NwC). It handles initialization, calibration, movement control, and power management. The platform supports position control with configurable velocity and acceleration limits.

PITCH_MOTOR_NAME = 'NpC'
YAW_MOTOR_NAME = 'NwC'
__init__(motors_manager: MotorsManager, power: BatterySystem = None, config: dict = {})

Initialize the Robstride neck platform.

Parameters:

  • motors_manager (MotorsManager) – The motors manager instance for controlling motors.

  • power (BatterySystem, optional) – Battery system for power event handling. If provided, the platform will check if recalibration is needed after power cycles.

  • config (dict) – Configuration dictionary containing motor settings. Must include a “motors” key with motor configurations including: - id: Motor ID in hexadecimal string format - motor_config: Motor configuration dictionary - default_velocity_max: Default maximum velocity in rad/s - default_acceleration_max: Default maximum acceleration in rad/s^2 - default_loc_kp: Default location proportional gain

disable_motors()

Disable all neck motors.

enable_motors()

Enable all neck motors in position control mode.

async get_position(force_update: bool = False) → Dict[str, float]

Get the current mechanical positions of all neck motors.

Parameters:

force_update (bool) – Currently unused, reserved for future implementation.

Returns:

Dictionary mapping motor names to their mechanical positions in radians.

Keys are motor names (e.g., “NpC”, “NwC”).

Return type:

Dict[str, float]

async get_state_async() → dict

Get the current state of all neck motors.

Returns:

Dictionary containing motor state with keys:

  • ”temp”: Temperature (TimestampedValue)

  • ”torque”: Torque (TimestampedValue)

  • ”angle”: Angle (TimestampedValue)

  • ”velocity”: Velocity (TimestampedValue)

Return type:

dict

get_state_sync() → dict

Get the current state of all neck motors.

Returns:

Dictionary mapping motor names to their state dict containing:

  • ’temp’: current temperature in degrees Celsius

  • ’torque’: current torque in newton meters

  • ’angle’: current angle in radians

  • ’velocity’: current velocity in radians per second

Return type:

Dict[str, Dict[str, float]]

get_system_state()

Get the current system state of all neck motors.

Returns:

Dictionary mapping motor names to their calibrated angles.

Keys are in the format “{motor_name}_angle” (e.g., “NpC_angle”, “NwC_angle”). Values are the calibrated angle in radians.

Return type:

Dict[str, float]

go_to(pitch_in_degrees: float = None, yaw_in_degrees: float = None)

Set target position for neck movement.

Parameters:

  • pitch_in_degrees (float, optional) – Target pitch angle in degrees. None to keep current target. Must be between -120 and 0 degrees.

  • yaw_in_degrees (float, optional) – Target yaw angle in degrees. None to keep current target. Must be between -90 and 90 degrees.

Raises:

  • Exception – If neck is not enabled, not healthy, or currently recalibrating.

  • ValueError – If pitch or yaw values are outside their valid ranges.

async health_check() → Dict[str, Dict[str, float]]

Perform a comprehensive health check on all neck motors.

Returns:

Nested dictionary mapping motor names to their health parameters.

Each motor’s dictionary contains: - “mech_pos”: Mechanical position in radians - “loc_ref”: Location reference (target position) in radians - “velocity”: Mechanical velocity in rad/s - “iqf”: Quadrature current feedback in amperes - “vel_max”: Maximum velocity setting in rad/s - “acc_set”: Acceleration setting in rad/s^2 - “loc_kp”: Location proportional gain

Return type:

Dict[str, Dict[str, float]]

look_up()

Move the neck to look straight forward.

Sets pitch to -90 degrees and yaw to 0 degrees (center position). This is typically used as a safe homing position.

on_abort()

Handle system abort event.

recalibrate(verbose: bool = False)

Recalibrate neck motors.

Parameters:

verbose (bool) – If True, passes verbose mode through to motor calibration (see motors manager).

Raises:

Exception – If neck is already recalibrating, or if calibration fails. On failure, healthy_state is set to False and enabled is set to True.

set_movement_profile(motor_name: str, max_velocity: float, max_acceleration: float, max_jerk=None)

Set the movement profile parameters for a specific motor.

Parameters:

  • motor_name (str) – Name of the motor to configure (e.g., “NpC” or “NwC”).

  • max_velocity (float) – Maximum velocity in rad/s. Must be between 0.1 and MAX_POSITION_VELOCITY (20 rad/s).

  • max_acceleration (float) – Maximum acceleration in rad/s^2. Must be between 0.1 and MAX_POSITION_ACCELERATION (30 rad/s^2).

  • max_jerk (float, optional) – Maximum jerk (not supported, must be None).

Raises:

ValueError – If max_velocity or max_acceleration are out of valid range, if max_jerk is not None, or if motor_name is not a valid neck motor.

sleep_and_disable()

Put motors to sleep position and disable them safely.

Raises:

Exception – Re-raises any exceptions that occur during the sleep process, but ensures motors are disabled in the finally block.