Metadata-Version: 2.1
Name: mini-cheetah-motor-driver-socketcan
Version: 0.2.1
Summary: A Python Driver for MIT Mini-Cheetah Actuator which uses SocketCAN for communication.
Home-page: https://github.com/vyas-shubham/mini-cheetah-tmotor-python-can
Author: Shubham Vyas
Author-email: Shubham.Vyas@dfki.de
License: UNKNOWN
Project-URL: Bug Tracker, https://github.com/vyas-shubham/mini-cheetah-tmotor-python-can/issues
Platform: UNKNOWN
Classifier: Development Status :: 4 - Beta
Classifier: Programming Language :: Python :: 3.6
Classifier: License :: OSI Approved :: MIT License
Classifier: Operating System :: POSIX :: Linux
Classifier: Framework :: Robot Framework :: Tool
Classifier: Topic :: System :: Hardware :: Hardware Drivers
Requires-Python: >=3.6
Description-Content-Type: text/markdown
License-File: LICENSE

# Python Motor Driver for Mini Cheetah Actuator: T-Motor AK80-6

# Dependencies:

* bitstring

Install via:

`pip3 install bitstring`

# Documentation

- Useful videos: 
    - [From T-Motor](https://www.youtube.com/watch?v=hbqQCgebaF8)
    - [From Skyentific](https://www.youtube.com/watch?v=HzY9vzgPZkA)
- [Datasheet](https://store-en.tmotor.com/goods.php?id=981)
- [Ben Katz Documentation](https://docs.google.com/document/d/1dzNVzblz6mqB3eZVEMyi2MtSngALHdgpTaDJIW_BpS4/edit)

# Pre-requisites:

* Setting up the CAN interface:

  * Run this command and make sure that `can0` (or any other can interface depending on the system)shows up as an interface after connecting the USB cable to your laptop: `ip link show`

  * Configure the `can0` interface to have a 1 Mbaud communication frequency: `sudo ip link set can0 type can bitrate 1000000`

  * To bring up the `can0` interface, run: `sudo ip link set up can0`

* To change motor parameters such as CAN ID or to calibrate the encoder, a serial connection is used. The serial terminal GUI used on linux for this purpose is `cutecom`

# Usage:

Import: `from motor_driver.canmotorlib import CanMotorController`

Example Motor Initialization: `motor = CanMotorController(can_socket='can0', motor_id=0x01, motor_type='AK80_6_V2', socket_timeout=0.5)`

Available Functions:

- `enable_motor()`
- `disable_motor()`
- `set_zero_position()`
- `send_deg_command(position_in_degrees, velocity_in_degrees, Kp, Kd, tau_ff):`
- `send_rad_command(position_in_radians, velocity_in_radians, Kp, Kd, tau_ff):`
- `change_motor_constants(P_MIN_NEW, P_MAX_NEW, V_MIN_NEW, V_MAX_NEW, KP_MIN_NEW, KP_MAX_NEW, KD_MIN_NEW, KD_MAX_NEW, T_MIN_NEW, T_MAX_NEW)`

All motor communication functions return current position, velocity, torque in SI units except for `send_deg_command`. `change_motor_constants` does not return anything.

# Supported Motor Configurations:

- AK80-6 (From Cubemars, Firmware versions v1 and v2): `motor_type='AK80_6_V1'` and `motor_type='AK80_6_V2'`
- AK80-9 (From Cubemars, Firmware version v2): `motor_type='AK80_9_V2'`

```
# Working parameters for AK80-6 V1.0 firmware
AK80_6_V1_PARAMS = {
                "P_MIN" : -95.5,
                "P_MAX" : 95.5,
                "V_MIN" : -45.0,
                "V_MAX" : 45.0,
                "KP_MIN" : 0.0,
                "KP_MAX" : 500,
                "KD_MIN" : 0.0,
                "KD_MAX" : 5.0,
                "T_MIN" : -18.0,
                "T_MAX" : 18.0,
                "AXIS_DIRECTION" : -1
                }

# Working parameters for AK80-6 V2.0 firmware
AK80_6_V2_PARAMS = {
                "P_MIN" : -12.5,
                "P_MAX" : 12.5,
                "V_MIN" : -38.2,
                "V_MAX" : 38.2,
                "KP_MIN" : 0.0,
                "KP_MAX" : 500.0,
                "KD_MIN" : 0.0,
                "KD_MAX" : 5.0,
                "T_MIN" : -12.0,
                "T_MAX" : 12.0,
                "AXIS_DIRECTION" : 1
                }

# Working parameters for AK80-9 V2.0 firmware
AK80_9_V2_PARAMS = {
                    "P_MIN" : -12.5,
                    "P_MAX" : 12.5,
                    "V_MIN" : -25.64,
                    "V_MAX" : 25.64,
                    "KP_MIN" : 0.0,
                    "KP_MAX" : 500.0,
                    "KD_MIN" : 0.0,
                    "KD_MAX" : 5.0,
                    "T_MIN" : -18.0,
                    "T_MAX" : 18.0,
                    "AXIS_DIRECTION" : 1
                    }
```

To add a new constants configuration use the `change_motor_constants` function or create an issue with the constants and motor information on the GitHub page to be added to the driver.

