firmware package

Subpackages

• firmware.bionic_motors package
  • Subpackages
    • firmware.bionic_motors.demos package
      • Submodules
      • firmware.bionic_motors.demos.driver module
      • Module contents
  • Submodules
  • firmware.bionic_motors.commands module
    • debug()
    • force_position_hybrid_control()
    • get_motor_current()
    • get_motor_pos()
    • get_motor_power()
    • get_motor_speed()
    • push_bits()
    • push_fp32_bits()
    • set_current_torque_control()
    • set_position_control()
    • set_speed_control()
    • set_zero_position()
    • split_into_bytes()
  • firmware.bionic_motors.model module
    • Arm
      • Arm.bicep
      • Arm.elbow
      • Arm.gripper
      • Arm.hold_position()
      • Arm.motor_ids
      • Arm.motors
      • Arm.rotator_cuff
      • Arm.set_position_incremental()
      • Arm.shoulder
      • Arm.wrist
    • Body
      • Body.left_arm
      • Body.left_leg
      • Body.motor_ids
      • Body.right_arm
      • Body.right_leg
    • Leg
      • Leg.ankle
      • Leg.foot
      • Leg.hip
      • Leg.hold_position()
      • Leg.knee
      • Leg.motor_ids
      • Leg.motors
      • Leg.pelvis
      • Leg.set_position_incremental()
      • Leg.thigh
  • firmware.bionic_motors.motors module
    • BionicMotor
      • BionicMotor.calibrate()
      • BionicMotor.can_messages
      • BionicMotor.get_position()
      • BionicMotor.get_speed()
      • BionicMotor.read()
      • BionicMotor.send()
      • BionicMotor.set_current()
      • BionicMotor.set_position()
      • BionicMotor.set_zero_position()
      • BionicMotor.update_position()
      • BionicMotor.update_speed()
    • CANInterface
      • CANInterface.bus
      • CANInterface.bustype
      • CANInterface.channel
    • CanMessage
      • CanMessage.data
      • CanMessage.id
    • ControlParams
      • ControlParams.kd
      • ControlParams.kp
  • firmware.bionic_motors.responses module
    • configuration_message()
    • custom_message()
    • get_message_type()
    • position_message()
    • position_speed_message()
    • read_result()
    • speed_message()
    • valid_message()
  • firmware.bionic_motors.utils module
    • ViolenceStrength
      • ViolenceStrength.ARM_PARAMS
      • ViolenceStrength.ARM_PARAMS_HEAVY
      • ViolenceStrength.GRIPPERS_PARAMS
      • ViolenceStrength.LEG_PARAMS
      • ViolenceStrength.LEG_PARAMS_HEAVY
  • Module contents
• firmware.cpp package
  • Subpackages
    • firmware.cpp.imu package
      • Submodules
      • firmware.cpp.imu.imu module
      • Module contents
  • Module contents
• firmware.imu package
  • Submodules
  • firmware.imu.imu module
    • IMUInterface
      • IMUInterface.GYRO_YAW_THRESHOLD
      • IMUInterface.MAG_TO_MCRO_TSLA
      • IMUInterface.calibrate_yaw()
      • IMUInterface.get_imu()
      • IMUInterface.get_imu_data()
      • IMUInterface.get_measurement()
      • IMUInterface.step()
  • Module contents
• firmware.motor_utils package
  • Submodules
  • firmware.motor_utils.motor_factory module
    • MotorFactory
      • MotorFactory.create_motor()
  • firmware.motor_utils.motor_utils module
    • MotorInterface
      • MotorInterface.calibrate()
      • MotorInterface.get_position()
      • MotorInterface.get_speed()
      • MotorInterface.set_current()
      • MotorInterface.set_position()
      • MotorInterface.set_zero_position()
    • MotorParams
  • Module contents
• firmware.robot package
  • Submodules
  • firmware.robot.model module
    • Arm
    • Body
      • Body.all_motors
      • Body.left_arm
      • Body.left_leg
      • Body.motor_ids
      • Body.right_arm
      • Body.right_leg
    • BodyPart
      • BodyPart.motor_ids
      • BodyPart.motors
    • Leg
  • firmware.robot.robot module
    • Robot
      • Robot.calibrate_motors()
      • Robot.disable_motors()
      • Robot.filter_motor_values()
      • Robot.get_motor_positions()
      • Robot.get_motor_speeds()
      • Robot.set_position()
      • Robot.test_motors()
      • Robot.update_motor_data()
      • Robot.zero_out()
    • deg_to_rad()
    • rad_to_deg()
  • firmware.robot.robot_test module
    • main()
    • test_filter_motor_values()
    • test_set_position()
    • test_zero_out()
  • Module contents
• firmware.robstride_motors package
  • Submodules
  • firmware.robstride_motors.client module
    • Client
      • Client.disable()
      • Client.enable()
      • Client.error_rate()
      • Client.get_motor_info()
      • Client.read_param()
      • Client.update_id()
      • Client.use_control_mode()
      • Client.write_param()
      • Client.zero_pos()
    • FeedbackResp
      • FeedbackResp.angle
      • FeedbackResp.errors
      • FeedbackResp.mode
      • FeedbackResp.servo_id
      • FeedbackResp.temp
      • FeedbackResp.torque
      • FeedbackResp.velocity
    • MotorError
      • MotorError.HallEncodingFault
      • MotorError.MagneticEncodingFault
      • MotorError.Overcurrent
      • MotorError.Overtemp
      • MotorError.Uncalibrated
      • MotorError.Undervoltage
    • MotorMode
      • MotorMode.Calibration
      • MotorMode.Reset
      • MotorMode.Run
    • MotorMsg
      • MotorMsg.Control
      • MotorMsg.Disable
      • MotorMsg.Enable
      • MotorMsg.Feedback
      • MotorMsg.Info
      • MotorMsg.ReadParam
      • MotorMsg.SetID
      • MotorMsg.WriteParam
      • MotorMsg.ZeroPos
    • RunMode
      • RunMode.Current
      • RunMode.Operation
      • RunMode.Position
      • RunMode.Speed
  • firmware.robstride_motors.model module
    • Arm
      • Arm.bicep
      • Arm.elbow
      • Arm.gripper
      • Arm.motor_ids
      • Arm.motors
      • Arm.rotator_cuff
      • Arm.shoulder
      • Arm.wrist
    • Body
      • Body.left_arm
      • Body.left_leg
      • Body.motor_ids
      • Body.right_arm
      • Body.right_leg
    • Leg
      • Leg.ankle
      • Leg.foot
      • Leg.hip
      • Leg.knee
      • Leg.motor_ids
      • Leg.motors
      • Leg.pelvis
      • Leg.thigh
  • firmware.robstride_motors.motors module
    • RobstrideMotor
      • RobstrideMotor.CALIBRATION_SPEED
      • RobstrideMotor.calibrate()
      • RobstrideMotor.disable()
      • RobstrideMotor.enable()
      • RobstrideMotor.get_current()
      • RobstrideMotor.get_position()
      • RobstrideMotor.get_speed()
      • RobstrideMotor.set_control_params()
      • RobstrideMotor.set_current()
      • RobstrideMotor.set_operation_mode()
      • RobstrideMotor.set_position()
      • RobstrideMotor.set_speed()
      • RobstrideMotor.set_zero_position()
    • RobstrideParams
      • RobstrideParams.cur_fit_gain
      • RobstrideParams.cur_ki
      • RobstrideParams.cur_kp
      • RobstrideParams.limit_cur
      • RobstrideParams.limit_spd
      • RobstrideParams.limit_torque
      • RobstrideParams.loc_kp
      • RobstrideParams.spd_filt_gain
      • RobstrideParams.spd_ki
      • RobstrideParams.spd_kp
  • Module contents
• firmware.scripts package
  • Submodules
  • firmware.scripts.bionics_scripts module
  • firmware.scripts.freeze module
  • firmware.scripts.madgwick_imu module
  • firmware.scripts.move_legs module
    • degrees_to_radians()
    • mac()
    • main()
    • test_motor()
    • test_torque_control()
  • firmware.scripts.read_error module
  • firmware.scripts.reset module
  • firmware.scripts.robot_controller module
    • Robot
      • Robot.calculate_gripper_position()
      • Robot.filter_motor_values()
      • Robot.get_motor_positions()
      • Robot.set_position()
      • Robot.zero_out()
    • rad_to_deg()
  • firmware.scripts.robstride_scripts module
    • main()
  • firmware.scripts.show_imu module
    • console()
    • live_plot()
    • main()
  • firmware.scripts.single_motor module
  • firmware.scripts.tick module
  • firmware.scripts.wave module
  • firmware.scripts.write_current_positions_as_zero module
  • Module contents

Module contents