init

.idea/.gitignore

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+# Default ignored files
+/shelf/
+/workspace.xml
+# Editor-based HTTP Client requests
+/httpRequests/
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml

.idea/inspectionProfiles/profiles_settings.xml

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+<component name="InspectionProjectProfileManager">
+  <settings>
+    <option name="USE_PROJECT_PROFILE" value="false" />
+    <version value="1.0" />
+  </settings>
+</component>

.idea/misc.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="Black">
+    <option name="sdkName" value="C:\ProgramData\anaconda3" />
+  </component>
+  <component name="ProjectRootManager" version="2" project-jdk-name="C:\ProgramData\anaconda3" project-jdk-type="Python SDK" />
+</project>

.idea/modules.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/teleoperator.iml" filepath="$PROJECT_DIR$/.idea/teleoperator.iml" />
+    </modules>
+  </component>
+</project>

.idea/teleoperator.iml

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+<?xml version="1.0" encoding="UTF-8"?>
+<module type="PYTHON_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$" />
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+</module>

main.py

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+from rmd_dx8.rmd_x8 import RMD_X8
+
+# Setup a new RMD_X8 motor with its identifier.
+robot = RMD_X8(0x141)
+
+# Read the motor's current PID parameters.
+robot.read_pid()

rmd_dx8/rmd_x8.py

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