Python

配置环境

• Windows

  1. 在终端进入TA_CAN\python路径，执行 python setup.py install
  2. 下载成功后如下
  3. 如果出现下图显示的错误，将错误路径下的motor_control-1.0-py3.12.egg删除再重新执行python setup.py install

• Linux

  1. 在终端进入TA_CAN\python路径，执行python setup.py install
  2. 下载成功后如下

创建类对象

demo:

from motor_control import *
id = [0x01, 0x17]
port_name= "COM27"                          # Windows: "COM*"  Linux: "/dev/ttyUSB*"
motor = MotorControl(port_name, id, 921600) # Params: serial port (str), list of actuator ID (0x05060100, 0x05061700)

复位

reset(MotorControl object，flag)    # flag默认值为0，当为1时表示读取更多消息。

现象：执行器LED灯先变红后变蓝

(返回执行器ID，序列号，固件版本)

from motor_control import *
id = [0x01, 0x17]
port_name= "COM27"                          # Windows: "COM*"  Linux: "/dev/ttyUSB*"
motor = MotorControl(port_name, id, 921600) # Params: serial port (str), list of actuator ID (0x05060100, 0x05061700)

reset(motor)

模式选择

mode_selection(MotorControl object, <b>Control mode</b>,Feedback cycle 1, Feedback cycle 2, Feedback cycle 3)

(打印当前操作模式)

❗

控制模式请参考下图

控制模式

demo 进入轮廓速度模式

from motor_control import *
id = [0x01, 0x17]           # list of int
duty_values = [500, 500]    # list of int
port_name= "COM27"          # Windows: "COM*"  Linux: "/dev/ttyUSB*"
motor = MotorControl(port_name, id, 921600)              # Params: serial port (str), list of actuator ID (0x05060100, 0x05061700)

mode_selection(motor, PROFILE_VELOCITY_MODE, 10, 10, 10) # Params: MotorControl object, operation mode, feedback cycle 1, 2, 3

异步模式

mode_selection(MotorControl object, ASYNC_MODE, xx, xx, xx)
write_async(MotorControl object, [Duty values])

(执行器无异常时尽量不使用)

demo: 设置占空值为500

from motor_control import *
id = [0x01, 0x17]           # list of int
duty_values = [500, 500]    # list of int
port_name= "COM27"          # Windows: "COM*"  Linux: "/dev/ttyUSB*"
motor = MotorControl(port_name, id, 921600)     # Params: serial port (str), list of actuator ID (0x05060100, 0x05061700)

mode_selection(motor, ASYNC_MODE, 10, 10, 10)   # Params: MotorControl object, operation mode, feedback cycle 1, 2, 3
write_async(motor, duty_values)                 # Params: MotorControl object, list of duty values

开环模式

mode_selection(MotorControl object, OPEN_LOOP_MODE, xx, xx, xx)
write_open_loop(MotorControl object, [Duty values])

(执行器无异常时尽量不使用)

demo: 设置占空值为500

from motor_control import *
id = [0x01, 0x17]           # list of int
duty_values = [500, 500]    # list of int
port_name = "COM27"         # Windows: "COM*"  Linux: "/dev/ttyUSB*"
motor = MotorControl(port_name, id, 921600)         # Params: serial port (str), list of actuator ID (0x05060100, 0x05061700)

mode_selection(motor, OPEN_LOOP_MODE, 10, 10, 10)   # Params: MotorControl object, operation mode, feedback cycle 1, 2, 3
write_open_loop(motor, duty_values)                 # Params: MotorControl object, list of duty values

电流模式

mode_selection(MotorControl object, CURRENT_MODE, xx, xx, xx)
write_current(MotorControl object, [Target current])

demo: 将目标电流设置成500mA

from motor_control import *
id = [0x01, 0x17]           # list of int
cur = [500, 500]            # list of int
port_name = "COM27"         # Windows: "COM*"  Linux: "/dev/ttyUSB*"
motor = MotorControl(port_name, id, 921600)     # Params: serial port (str), list of actuator ID (0x05060100, 0x05061700)

mode_selection(motor, CURRENT_MODE, 10, 10, 10) # Params: MotorControl object, operation mode, feedback cycle 1, 2, 3
write_current(motor, cur)                       # Params: MotorControl object, list of target current

轮廓速度模式

mode_selection(MotorControl object, PROFILE_VELOCITY_MODE, xx, xx, xx)
write_profile_velocity(MotorControl object, [Current limit], [Target velocity])

demo: 将目标速度设置成500rpm

from motor_control import *
id = [0x01, 0x17]           # list of int
cur = [3000, 3000]          # list of int
vel = [500, 500]            # list of int
port_name = "COM27"         # Windows: "COM*"  Linux: "/dev/ttyUSB*"
motor = MotorControl(port_name, id, 921600)             # Params: serial port (str), list of actuator ID (0x05060100, 0x05061700)

mode_selection(motor, PROFILE_VELOCITY_MODE, 10, 10, 10)# Params: MotorControl object, operation mode, feedback cycle 1, 2, 3
write_profile_velocity(motor, cur, vel)                 # Params: MotorControl object, list of current limit, list of target velocity

轮廓位置模式

mode_selection(MotorControl object, PROFILE_POSITION_MODE, xx, xx, xx)
  write_profile_position(MotorControl object, [Current limit], [Velocity limit], [Target position])

demo: 将目标位置设置成360°

from motor_control import *
id = [0x01, 0x17]           # list of int
cur = [3000, 3000]          # list of int
vel = [1000, 1000]          # list of int
pos = [65535, 65535]        # list of int
port_name = "COM27"         # Windows: "COM*"  Linux: "/dev/ttyUSB*"
motor = MotorControl(port_name, id, 921600)             # Params: serial port (str), list of actuator ID (0x05060100, 0x05061700)

mode_selection(motor, PROFILE_POSITION_MODE, 10, 10, 10)# Params: MotorControl object, operation mode, feedback cycle 1, 2, 3
time.sleep(0.01)
write_profile_position(motor, cur, vel, pos)            # Params: MotorControl object, list of current limit, list of velocity limit, list of target position

❗

减速机端旋转一圈的值为16bits=65535

位置模式

mode_selection(MotorControl object, POSITION_MODE, xx, xx, xx)
write_position(MotorControl object, [Current limit], [Velocity limit], [Target position])

demo: 将目标位置设置成360°

from motor_control import *
id = [0x01, 0x17]           # list of int
cur = [3000, 3000]          # list of int
vel = [1000, 1000]          # list of int
pos = [65535, 65535]        # list of int
port_name = "COM27"         # Windows: "COM*"  Linux: "/dev/ttyUSB*"
motor = MotorControl(port_name, id, 921600)     # Params: serial port (str), list of actuator ID (0x05060100, 0x05061700)

mode_selection(motor, POSITION_MODE, 10, 10, 10)# Params: MotorControl object, operation mode, feedback cycle 1, 2, 3
time.sleep(0.01)
write_position(motor, cur, vel, pos)            # Params: MotorControl object, list of current limit, list of velocity limit, list of target position

❗

减速机端旋转一圈的值为16bits=65536

MIT模式

mode_selection(MotorControl object, MIT_MODE, xx, xx, xx)
write_mit(MotorControl object, [Target current], [Target velocity], [Target position], [KP], [KD])

demo: 点到点（电流的大小应视情况而定）

❗

目标速度为0，其他不为0 (电流为前馈转矩补偿)

from motor_control import *
id = [0x01, 0x17]           # list of int
cur = [300, 300]            # list of int
vel = [0, 0]                # list of int
pos = [65535, 65535]        # list of int
kp = [13.1, 13.1]           # list of float
kd = [10.0, 10.0]           # list of float
port_name = "COM27"         # Windows: "COM*"  Linux: "/dev/ttyUSB*"
motor = MotorControl(port_name, id, 921600) # Params: serial port (str), list of actuator ID (0x05060100, 0x05061700)

mode_selection(motor, MIT_MODE, 10, 10, 10) # Params: MotorControl object, operation mode, feedback cycle 1, 2, 3
time.sleep(0.01)
write_mit(motor, cur, vel, pos, kp, kd)     # Params: MotorControl object, list of target current, list of target velocity, list of target position, list of KP, list of KD

固定速度（电流的大小应视情况而定）

❗

目标位置和KP为0，其他不为0 (电流为前馈转矩补偿)

from motor_control import *
id = [0x01, 0x17]           # list of int
cur = [300, 300]            # list of int
vel = [500, 500]            # list of int
pos = [0, 0]                # list of int
kp = [0.0, 0.0]             # list of float
kd = [10.0, 10.0]           # list of float
port_name = "COM27"         # Windows: "COM*"  Linux: "/dev/ttyUSB*"
motor = MotorControl(port_name, id, 921600) # Params: serial port (str), list of actuator ID (0x05060100, 0x05061700)

mode_selection(motor, MIT_MODE, 10, 10, 10) # Params: MotorControl object, operation mode, feedback cycle 1, 2, 3
time.sleep(0.01)
write_mit(motor, cur, vel, pos, kp, kd)     # Params: MotorControl object, list of target current, list of target velocity, list of target position, list of KP, list of KD

固定扭矩

❗

目标电流不为0，其他都为0

from motor_control import *
id = [0x01, 0x17]           # list of int
cur = [500, 500]            # list of int
vel = [0, 0]                # list of int
pos = [0, 0]                # list of int
kp = [0.0, 0.0]             # list of float
kd = [0.0, 0.0]             # list of float
port_name = "COM27"         # Windows: "COM*"  Linux: "/dev/ttyUSB*"
motor = MotorControl(port_name, id, 921600) # Params: serial port (str), list of actuator ID (0x05060100, 0x05061700)

mode_selection(motor, MIT_MODE, 10, 10, 10) # Params: MotorControl object, operation mode, feedback cycle 1, 2, 3
time.sleep(0.01)
write_mit(motor, cur, vel, pos, kp, kd)     # Params: MotorControl object, list of target current, list of target velocity, list of target position, list of KP, list of KD

读取参数

results = get_v_p_c_v(MotorControl object)

(返回一个包含电压、PWM、电流、速度的列表，打印"参数名: 当前值")

results = get_pos(MotorControl object)

(返回一个包含电机位置、执行器位置的列表，打印"参数名: 当前值")

results = get_temp_error(MotorControl object)

(返回一个包含mos管温度、电机温度、G431芯片温度、警告类型和错误类型的列表，打印"参数名: 当前值")

读电压、PWM、电流和速度

读电机位置和执行器位置

读mos管温度、电机温度、G431芯片温度、警告类型和错误类型

其他功能

刹车、修改开环模式加减速度、修改profile速度加减速度、修改电流pid、修改速度pid、修改位置pid

from motor_control import *
id = [0x01, 0x17]           # list of int
pwm = [-2000, -2000]        # list of int
dur = [500, 500]            # list of int
acc = [2000, 2000]          # list of int
dec = [2000, 2000]          # list of int
kp = [0.001, 0.001]         # list of float
ki = [0.001, 0.001]         # list of float
kd = [0.001, 0.001]         # list of float
port_name = "COM27"         # Windows: "COM*"  Linux: "/dev/ttyUSB*"
motor = MotorControl(port_name, id, 921600) # Params: serial port (str), list of actuator ID (0x05060100, 0x05061700)

brake_control(motor, pwm, dur)              # Params: MotorControl object, list of PWM, list of durations
openloop_acc_dec_set(motor, acc, dec)       # Params: MotorControl object, list of acceleration, list of deceleration
velocity_acc_dec_set(motor, acc, dec)       # Params: MotorControl object, list of acceleration, list of deceleration
current_pid_set(motor, kp, ki)              # Params: MotorControl object, list of KP, list of KI
velocity_pid_set(motor, kp, ki)             # Params: MotorControl object, list of KP, list of KI
position_pid_set(motor, kp, kd)             # Params: MotorControl object, list of KP, list of KD

实时修改轮廓速度的加速度和减速度

from motor_control import *
acc_dec = 0
id = [0x01, 0x17]           # list of int
cur = [3000, 3000]          # list of int
vel = [1000, 1000]          # list of int
vel_0 = [0, 0]              # list of int
port_name = "COM27"         # Windows: "COM*"  Linux: "/dev/ttyUSB*"
motor = MotorControl(port_name, id, 921600)                 # Params: serial port (str), list of actuator ID (0x05060100, 0x05061700)

mode_selection(motor, PROFILE_VELOCITY_MODE, 10, 10, 10)    # Params: MotorControl object, operation mode, feedback cycle 1, 2, 3
time.sleep(0.01)
while 1:
    acc_dec += 100
    acc = [acc_dec, acc_dec]
    dec = [acc_dec, acc_dec]
    velocity_acc_dec_set(motor, acc, dec)                   # Params: MotorControl object, list of acceleration, list of deceleration
    print(acc_dec)
    write_profile_velocity(motor, cur, vel)                 # Params: MotorControl object, list of current limit, list of target velocity
    time.sleep(3)
    write_profile_velocity(motor, cur, vel_0)               # Params: MotorControl object, list of current limit, list of target velocity
    time.sleep(4)
    if acc_dec >= 2000:
        break