firmware.motor_utils package¶

Submodules¶

Motor factory module. Contains a factory class to create motor objects based on configuration.

class firmware.motor_utils.motor_factory.MotorFactory[source]¶

Bases: object

static create_motor(motor, motor_id, control_params, communication_interface)[source]¶

This module contains the abstract base class for motor interfaces.

class firmware.motor_utils.motor_utils.MotorInterface(motor_id, control_params, communication_interface)[source]¶

Bases: ABC

Abstract base class for motor interfaces.

abstract calibrate(current_limit)[source]¶

Calibrates motor assuming the existence of hard stops.

abstract get_position()[source]¶

Gets the current position of the motor.

abstract get_speed()[source]¶

Gets the current speed of the motor.

abstract set_current(current)[source]¶

Sets the current of the motor.

abstract set_position(position, **kwargs)[source]¶

Sets the position of the motor.

abstract set_zero_position()[source]¶

Sets the zero position of the motor.

class firmware.motor_utils.motor_utils.MotorParams[source]¶: Bases: object