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481 lines
14 KiB
481 lines
14 KiB
6 months ago
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# RMD-X8 Python Library
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# Copyright 2022 Sanjay Sunil
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import can
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import os
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import time
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class RMD_X8:
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"""
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A class to read and write on the RMD-X8 motor.
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...
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Attributes
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----------
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bus : type
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the can bus channel used to communicate with the motor
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identifier : type
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the motor's identifier on the can bus
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Methods
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-------
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setup():
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Setup the can bus connection.
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send_cmd(data, delay):
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Send a frame data to the motor.
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read_pid():
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Read the motor's current PID parameters.
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write_pid_ram(data):
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Write PID parameters to the RAM.
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write_pid_rom(data):
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Write PID parameters to the ROM.
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read_acceleration():
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Read the motor's acceleration data.
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write_acceleration_ram(data):
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Write the acceleration to the RAM of the motor.
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read_encoder():
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Read the current position of the encoder.
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write_encoder_offset(data):
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Set the motor's encoder offset.
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write_motor_zero_rom():
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Write the current position of the motor to the ROM
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as the motor zero position.
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read_multi_turns_angle():
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Read the multi-turn angle of the motor.
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read_single_turn_angle():
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Read the single circle angle of the motor.
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motor_off():
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Turn off the motor, while clearing the motor operating
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status and previously received control commands.
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motor_stop():
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Stop the motor, but do not clear the operating state and
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previously received control commands.
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motor_running():
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Resume motor operation from the motor stop command.
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read_motor_status_1():
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Reads the motor's error status, voltage, temperature and
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other information.
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read_motor_status_2():
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Reads the motor temperature, voltage, speed and encoder
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position.
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read_motor_status_3():
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Reads the phase current status data of the motor.
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clear_motor_error_flag():
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Clears the error status of the currrent motor.
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torque_closed_loop(data):
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Control torque current output of the motor.
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speed_closed_loop(data):
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Control the speed of the motor.
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position_closed_loop_1(data):
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Control the position of the motor (multi-turn angle).
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position_closed_loop_2(data):
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Control the position of the motor (multi-turn angle).
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position_closed_loop_3(data):
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Control the position of the motor (single-turn angle).
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position_closed_loop_4(data):
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Control the position of the motor (single-turn angle).
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"""
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def __init__(self, identifier):
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"""
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Constructs all the necessary attributes for the RMDX8 object.
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"""
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self.bus = None
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self.identifier = identifier
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def setup(self):
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"""
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Setup the can bus connection.
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Returns
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-------
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self.bus : type
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The bus used to communicate with the motor.
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"""
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try:
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os.system("sudo /sbin/ip link set can0 up type can bitrate 1000000")
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time.sleep(0.1)
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except Exception as e:
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print(e)
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try:
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bus = can.interface.Bus(bustype='socketcan_native', channel='can0')
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except OSError:
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print('err: PiCAN board was not found.')
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exit()
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except Exception as e:
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print(e)
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self.bus = bus
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return self.bus
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def send_cmd(self, data, delay):
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"""
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Send frame data to the motor.
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Parameters
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----------
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data : list
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The frame data to be sent to the motor.
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delay : int/float
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The time to wait after sending data to the motor.
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Returns
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-------
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received_message : list
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Frame data received from the motor after receiving the command.
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"""
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message = can.Message(arbitration_id=self.identifier,
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data=data, extended_id=False)
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self.bus.send(message)
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time.sleep(delay)
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received_message = self.bus.recv()
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return received_message
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def read_pid(self):
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"""
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Read the motor's current PID parameters.
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Returns
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-------
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received_message : list
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Frame data received from the motor after receiving the command.
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"""
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message = [0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]
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return self.send_cmd(message, 0.01)
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def write_pid_ram(self, data):
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"""
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Write PID parameters to the RAM.
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Parameters
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----------
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data : list
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The frame data to be sent to the motor.
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Returns
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-------
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received_message : list
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Frame data received from the motor after receiving the command.
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"""
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message = [0x31, 0x00, data[0], data[1],
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data[2], data[3], data[4], data[5]]
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return self.send_cmd(message, 0.01)
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def write_pid_rom(self, data):
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"""
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Write PID parameters to the ROM.
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Parameters
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----------
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data : list
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The frame data to be sent to the motor.
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Returns
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-------
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received_message : list
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Frame data received from the motor after receiving the command.
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"""
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message = [0x32, 0x00, data[0], data[1],
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data[2], data[3], data[4], data[5]]
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return self.send_cmd(message, 0.01)
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def read_acceleration(self):
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"""
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Read the motor's acceleration data.
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Returns
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-------
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received_message : list
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Frame data received from the motor after receiving the command.
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"""
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message = [0x33, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]
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return self.send_cmd(message, 0.01)
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def write_acceleration_ram(self, data):
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"""
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Write the acceleration to the RAM of the motor.
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Parameters
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----------
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data : list
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The frame data to be sent to the motor.
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Returns
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-------
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received_message : list
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Frame data received from the motor after receiving the command.
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"""
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message = [0x34, 0x00, 0x00, 0x00,
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data[0], data[1], data[2], data[3]]
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return self.send_cmd(message, 0.01)
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def read_encoder(self):
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"""
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Read the current position of the encoder.
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Returns
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-------
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received_message : list
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Frame data received from the motor after receiving the command.
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"""
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message = [0x90, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]
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return self.send_cmd(message, 0.01)
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def write_encoder_offset(self, data):
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"""
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Set the motor's encoder offset.
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Parameters
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----------
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data : list
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The frame data to be sent to the motor.
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Returns
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-------
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received_message : list
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Frame data received from the motor after receiving the command.
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"""
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message = [0x91, 0x00, 0x00, 0x00,
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0x00, 0x00, data[0], data[1]]
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return self.send_cmd(message, 0.01)
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def write_motor_zero_rom(self):
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"""
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Write the current position of the motor to the ROM as the motor zero position.
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Returns
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-------
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received_message : list
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Frame data received from the motor after receiving the command.
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"""
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message = [0x19, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00]
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return self.send_cmd(message, 0.01)
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def read_multi_turns_angle(self):
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"""
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Read the multi-turn angle of the motor.
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Returns
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-------
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received_message : list
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Frame data received from the motor after receiving the command.
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"""
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message = [0x92, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00]
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return self.send_cmd(message, 0.01)
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def read_single_turn_angle(self):
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"""
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Read the single circle angle of the motor.
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Returns
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-------
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received_message : list
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Frame data received from the motor after receiving the command.
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"""
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message = [0x94, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00]
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return self.send_cmd(message, 0.01)
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def motor_off(self):
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"""
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Turn off the motor, while clearing the motor operating status and previously received control commands.
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Returns
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-------
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received_message : list
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Frame data received from the motor after receiving the command.
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"""
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message = [0x80, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00]
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return self.send_cmd(message, 0.01)
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def motor_stop(self):
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"""
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Stop the motor, but do not clear the operating state and previously received control commands.
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Returns
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-------
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received_message : list
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Frame data received from the motor after receiving the command.
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"""
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message = [0x81, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00]
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return self.send_cmd(message, 0.01)
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def motor_run(self):
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"""
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Resume motor operation from the motor stop command.
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Returns
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-------
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received_message : list
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Frame data received from the motor after receiving the command.
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"""
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message = [0x88, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00]
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return self.send_cmd(message, 0.01)
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def read_motor_status_1(self):
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"""
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Reads the motor's error status, voltage, temperature and other information.
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Returns
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-------
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received_message : list
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Frame data received from the motor after receiving the command.
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"""
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message = [0x9A, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00]
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return self.send_cmd(message, 0.01)
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def read_motor_status_2(self):
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"""
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Reads the motor temperature, voltage, speed and encoder position.
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Returns
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-------
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received_message : list
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Frame data received from the motor after receiving the command.
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"""
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message = [0x9C, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00]
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return self.send_cmd(message, 0.01)
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def read_motor_status_3(self):
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"""
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Reads the phase current status data of the motor.
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Returns
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-------
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received_message : list
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Frame data received from the motor after receiving the command.
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"""
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message = [0x9D, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00]
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return self.send_cmd(message, 0.01)
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def clear_motor_error_flag(self):
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"""
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Clears the error status of the currrent motor.
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Returns
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-------
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received_message : list
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Frame data received from the motor after receiving the command.
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"""
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message = [0x9B, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00]
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return self.send_cmd(message, 0.01)
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def torque_closed_loop(self, data):
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"""
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Control torque current output of the motor.
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Parameters
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----------
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data : list
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The frame data to be sent to the motor.
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Returns
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-------
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received_message : list
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Frame data received from the motor after receiving the command.
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"""
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message = [0xA1, 0x00, 0x00, 0x00,
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data[0], data[1], 0x00, 0x00]
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return self.send_cmd(message, 0.01)
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def speed_closed_loop(self, data):
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"""
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Control the speed of the motor.
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Parameters
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||
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----------
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data : list
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The frame data to be sent to the motor.
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Returns
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-------
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received_message : list
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Frame data received from the motor after receiving the command.
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"""
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message = [0xA2, 0x00, 0x00, 0x00,
|
||
|
|
data[0], data[1], data[2], data[3]]
|
||
|
|
return self.send_cmd(message, 0.01)
|
||
|
|
|
||
|
|
def position_closed_loop_1(self, data):
|
||
|
|
"""
|
||
|
|
Control the position of the motor (multi-turn angle).
|
||
|
|
|
||
|
|
Parameters
|
||
|
|
----------
|
||
|
|
data : list
|
||
|
|
The frame data to be sent to the motor.
|
||
|
|
|
||
|
|
Returns
|
||
|
|
-------
|
||
|
|
received_message : list
|
||
|
|
Frame data received from the motor after receiving the command.
|
||
|
|
"""
|
||
|
|
message = [0xA3, 0x00, 0x00, 0x00,
|
||
|
|
data[0], data[1], data[2], data[3]]
|
||
|
|
return self.send_cmd(message, 0.01)
|
||
|
|
|
||
|
|
def position_closed_loop_2(self, data):
|
||
|
|
"""
|
||
|
|
Control the position of the motor (multi-turn angle).
|
||
|
|
|
||
|
|
Parameters
|
||
|
|
----------
|
||
|
|
data : list
|
||
|
|
The frame data to be sent to the motor.
|
||
|
|
|
||
|
|
Returns
|
||
|
|
-------
|
||
|
|
received_message : list
|
||
|
|
Frame data received from the motor after receiving the command.
|
||
|
|
"""
|
||
|
|
message = [0xA4, 0x00, data[0], data[1],
|
||
|
|
data[2], data[3], data[4], data[5]]
|
||
|
|
return self.send_cmd(message, 0.01)
|
||
|
|
|
||
|
|
def position_closed_loop_3(self, data):
|
||
|
|
"""
|
||
|
|
Control the position of the motor (single-turn angle).
|
||
|
|
|
||
|
|
Parameters
|
||
|
|
----------
|
||
|
|
data : list
|
||
|
|
The frame data to be sent to the motor.
|
||
|
|
|
||
|
|
Returns
|
||
|
|
-------
|
||
|
|
received_message : list
|
||
|
|
Frame data received from the motor after receiving the command.
|
||
|
|
"""
|
||
|
|
message = [0xA5, data[0], 0x00, 0x00,
|
||
|
|
data[1], data[2], 0x00, 0x00]
|
||
|
|
return self.send_cmd(message, 0.01)
|
||
|
|
|
||
|
|
def position_closed_loop_4(self, data):
|
||
|
|
"""
|
||
|
|
Control the position of the motor (single-turn angle).
|
||
|
|
|
||
|
|
Parameters
|
||
|
|
----------
|
||
|
|
data : list
|
||
|
|
The frame data to be sent to the motor.
|
||
|
|
|
||
|
|
Returns
|
||
|
|
-------
|
||
|
|
received_message : list
|
||
|
|
Frame data received from the motor after receiving the command.
|
||
|
|
"""
|
||
|
|
message = [0xA6, data[0], data[1], data[2],
|
||
|
|
data[3], data[4], 0x00, 0x00]
|
||
|
|
return self.send_cmd(message, 0.01)
|