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define Motor object 定义电机对象
:param MotorType: Motor type 电机类型
:param SlaveID: CANID 电机ID
:param MasterID: MasterID 主机ID 建议不要设为0
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zMotor.__init__<5F>q<>dq<64>taucCs||_||_||_dS<00>N)rr r
)rrrrrrr<00> recv_datas
zMotor.recv_datacC<00>|jS)uz
get the position of the motor 获取电机位置
:return: the position of the motor 电机位置
)r<00>rrrr<00> getPosition!<00>zMotor.getPositioncCr)uz
get the velocity of the motor 获取电机速度
:return: the velocity of the motor 电机速度
)r rrrr<00> getVelocity(rzMotor.getVelocitycCr)uv
get the torque of the motor 获取电机力矩
:return: the torque of the motor 电机力矩
)r
rrrr<00> getTorque/rzMotor.getTorquecCs||jvr
|j|SdS)u<>
get the parameter of the motor 获取电机内部的参数,需要提前读取
:param RID: DM_variable 电机参数
:return: the parameter of the motor 电机参数
N)r)r<00>RIDrrr<00>getParam6s

zMotor.getParamN)
<EFBFBD>__name__<5F>
__module__<EFBFBD> __qualname__rrrrrrr!rrrrrs rc @s<>eZdZe<03>gd<01>ej<05>Zgd<02>gd<03>gd<04>gd<05>gd<06>gd<07>gd<08>gd <09>gd
<EFBFBD>gd <0B>gd <0C>gd <0C>g Zd d<0E>Zde de de de de f
dd<15>Z
de de de de de de f dd<18>Z de de fdd<1C>Z dd<1E>Z de fd d!<21>Zd"d#<23>Zd$d%<25>Zd&d'<27>Zd(d)<29>Zd*d+<2B>Zd,d-<2D>Zd.d/<2F>Zd0d1<64>Zd2d3<64>Zd4ejfd5d6<64>Zd7d8<64>Zd9d:<3A>Zd;d<<3C>Zd=d><3E>Zd?d@<40>ZdAdB<64>ZdCdD<64>ZdEdF<64>Z dGdH<64>Z!dIdJ<64>Z"dKS)L<> MotorControl)<1E>U<00><><00><00><00>rrr<00>
rrrrrrrrr<00>rrrrrrrrrrr)<03>)@r(r+)r-<00>2r+)r-r,<00>)r-r+r/)r-<00>-<00>)r-r0<00>()r-r0<00>6)r-<00><00><>)r-r1r5)r-ir*)r-r0r+cCs<||_t<01>|_t<03>|_|jjrtd<01>|<01><07>|j<00><08>dS)u~
define MotorControl object 定义电机控制对象
:param serial_device: serial object 串口对象
zSerial port is openN) <09>serial_<6C>dict<63>
motors_map<EFBFBD>bytes<65> data_save<76>is_open<65>print<6E>close<73>open)r<00> serial_devicerrrrMszMotorControl.__init__<5F>kp<6B>kdrrrcCsD|j|jvr td<01>dSt|ddd<05>}t|ddd<05>}|j} |j| d}
|j| d} |j| d} t||
|
d <09>} t|| | d<05>}t|| | d<05>}t<06>gd
<EFBFBD>tj<08>}| d ?d @|d<| d @|d<|d ?|d<|d@d >|d ?d@B|d<|d @|d <|d ?|d<|d@d >|d ?d@B|d<|d @|d<|<00> |j|<10>|<00>
<EFBFBD>dS)uA
MIT Control Mode Function 达妙电机MIT控制模式函数
:param DM_Motor: Motor object 电机对象
:param kp: kp
:param kd: kd
:param q: position 期望位置
:param dq: velocity 期望速度
:param tau: torque 期望力矩
:return: None
z%controlMIT ERROR : Motor ID not foundNri<><00> <00>r*<00><00><00>rrrrrrrrr,<00><><00><00>r)<00><00>) r r8r<<00> float_to_uintr <00> Limit_Param<61>np<6E>array<61>uint8<74>_MotorControl__send_data<74>recv)r<00>DM_Motorr@rArrrZkp_uintZkd_uintr <00>Q_MAX<41>DQ_MAX<41>TAU_MAX<41>q_uint<6E>dq_uint<6E>tau_uint<6E>data_bufrrr<00>
controlMITZs.       zMotorControl.controlMIT<49>delaycCs |<00>||||||<06>t|<07>dS)uv
MIT Control Mode Function with delay 达妙电机MIT控制模式函数带延迟
:param DM_Motor: Motor object 电机对象
:param kp: kp
:param kd: kd
:param q: position 期望位置
:param dq: velocity 期望速度
:param tau: torque 期望力矩
:param delay: delay time 延迟时间 单位秒
N)r[r)rrSr@rArrrr\rrr<00> control_delay}s zMotorControl.control_delay<61> P_desired<65> V_desiredcCst|j|jvr td<01>dSd|j}t<03>gd<04>tj<05>}t|<02>}t|<03>}||dd<06><||dd<07><|<00>||<05>|<00><08>dS)u
control the motor in position and velocity control mode 电机位置速度控制模式
:param Motor: Motor object 电机对象
:param P_desired: desired position 期望位置
:param V_desired: desired velocity 期望速度
:return: None
z*Control Pos_Vel Error : Motor ID not foundN<64>rFrrHr,<00> r r8r<rNrOrP<00>float_to_uint8srQrR)rrr^r_<00>motoridrZZP_desired_uint8sZV_desired_uint8srrr<00>control_Pos_Vel<65>s 
    zMotorControl.control_Pos_VelcCs`|j|jvr td<01>dSd|j}t<03>gd<04>tj<05>}t|<02>}||dd<06><|<00>||<04>|<00><08>dS)u<>
control the motor in velocity control mode 电机速度控制模式
:param Motor: Motor object 电机对象
:param Vel_desired: desired velocity 期望速度
z&control_VEL ERROR : Motor ID not foundNirFrrHra)rrZ Vel_desiredrcrZZVel_desired_uint8srrr<00> control_Vel<65>s 
   zMotorControl.control_Vel<65>Pos_desc
Cs<>|j|jvr td<01>dSd|j}t<03>gd<04>tj<05>}t|<02>}||dd<06><t<03>|<03>}t<03>|<04>} |d@|d<|d?|d <| d@|d
<| d?|d <|<00>||<06>|<00> <09>dS) u<>
control the motor in EMIT control mode 电机力位混合模式
:param Pos_des: desired position rad 期望位置 单位为rad
:param Vel_des: desired velocity rad/s 期望速度 为放大100倍
:param i_des: desired current rang 0-10000 期望电流标幺值放大10000倍
电流标幺值:实际电流值除以最大电流值,最大电流见上电打印
z*control_pos_vel ERROR : Motor ID not foundNirFrrHrGr,rCrJrK)
r r8r<rNrOrPrb<00>uint16rQrR)
rrrfZVel_desZi_desrcrZZPos_desired_uint8sZVel_uintZ ides_uintrrr<00>control_pos_force<63>s 
 

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enable motor 使能电机
最好在上电后几秒后再使能电机
:param Motor: Motor object 电机对象
<20><><><E79A99><EFBFBD><EFBFBD><EFBFBD>?N<><05>_MotorControl__control_cmdrNrPrrR<00>rrrrr<00>enable<6C>s zMotorControl.enablecCsHt<00>gd<01>tj<02>}t|<02>dd>|j}|<00>||<03>td<04>|<00><07>dS)u
enable motor old firmware 使能电机旧版本固件,这个是为了旧版本电机固件的兼容性
可恶的旧版本固件使能需要加上偏移量
最好在上电后几秒后再使能电机
:param Motor: Motor object 电机对象
)rGrGrGrGrGrGrGrjr*rDrkN)rNrOrP<00>intr rQrrR)rr<00> ControlModerZZ enable_idrrr<00>
enable_old<EFBFBD>s
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disable motor 失能电机
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<20><>g{<14>G<EFBFBD>z<EFBFBD>?N)rmrNrPrrnrrr<00>disable<6C>s zMotorControl.disablecCri)uu
set the zero position of the motor 设置电机0位
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<20><>rkNrlrnrrr<00>set_zero_position<6F>s zMotorControl.set_zero_positioncCs|d<01>|j|j<02><03>g<02>}|<00>|<01>}|D])}|dd<03>}|dd>|dd>B|dd >B|d
B}|d }|<00>|||<06>qdS) N<>rKrIrJ<00>rCrErHr,r)r*)<06>joinr:r6<00>read_all<6C>_MotorControl__extract_packets<74>_MotorControl__process_packet<65>rZ data_recvZpacketsZpacket<65>data<74>CANID<49>CMDrrrrR<00>s
 ,<04>zMotorControl.recvcCsp|j<00><01>}|<00>|<01>}|D])}|dd<02>}|dd>|dd>B|dd>B|d B}|d
}|<00>|||<06>q dS) NrKrIrJrxrCrErHr,r)r*)r6rzr{<00>'_MotorControl__process_set_param_packetr}rrr<00>recv_set_param_data<74>s

 ,<04>z MotorControl.recv_set_param_datacCs<>|dkr<>|dkr||jvr}t<01>t<01>|d<00>d>|dB<00>}t<01>t<01>|d<00>d>|dd?B<00>}t<01>|dd@d>|d B<00>}|j|j}|j|d}|j|d} |j|d}
t|| |d
<EFBFBD>} t|| | d <0B>} t||
|
d <0B>} |j|<00>| | | <0A>dSdS|dd@}||jvr<>t<01>t<01>|d<00>d>|dB<00>}t<01>t<01>|d<00>d>|dd?B<00>}t<01>|dd@d>|d B<00>}|j|j}|j|d}|j|d} |j|d}
t|| |d
<EFBFBD>} t|| | d <0B>} t||
|
d <0B>} |j|<00>| | | <0A>dSdSdS) N<>rr*r,rDr)rHrIrCrErB)r8rNrgr rM<00> uint_to_floatr)rr~rr<>rWrXrYZMotorType_recvrTrUrVZrecv_qZrecv_dqZrecv_taur rrrZ__process_packets<
 $ <04>
 $ <04>zMotorControl.__process_packetcCs<>|dkrj|ddks|ddkrl|}|dd>|dB}|dkr"|}||jvr0||jvr.dS|}|d}t|<06>rQt|d |d
|d |d <00>}||j|j|<dSt|d |d
|d |d <00>}||j|j|<dSdSdS) Nr<4E>rD<00>3r&r*r,rr)rHrCrJrK)r8<00> is_in_ranges<65>uint8s_to_uint32r<00>uint8s_to_float)rr~rr<>ZmasteridZslaveIdr <00>numrrrZ__process_set_param_packet"s 
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<08>z'MotorControl.__process_set_param_packetcCs&||j|j<|jdkr||j|j<dS)u<>
add motor to the motor control object 添加电机到电机控制对象
:param Motor: Motor object 电机对象
rT)r8r r rnrrr<00>addMotor<s 
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send data to the motor 发送数据到电机
:param motor_id:
:param data:
:return:
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0z MotorControl.__write_motor_paramcCs<>d}d}d}|<00>||t<01>|<02><01>t|<03>D]*}t|<04>|<00><05>|j|jvr>||j|jjvr>|j|jj||kr;dSdSqdS)u<>
switch the control mode of the motor 切换电机控制模式
:param Motor: Motor object 电机对象
:param ControlMode: Control_Type 电机控制模式 example:MIT:Control_Type.MIT MIT模式
r+<><E79A99><EFBFBD><EFBFBD><EFBFBD>?TF) <09> _MotorControl__write_motor_paramrNrP<00>rangerr<>r r8r)rrrq<00> max_retries<65>retry_intervalr <00>_rrr<00>switchControlModehs  <02>zMotorControl.switchControlModec
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save the all parameter to flash 保存所有电机参数
:param Motor: Motor object 电机对象
:return:
rGr,r'rr<>g<><67><EFBFBD><EFBFBD>MbP?N)r rNrOrPrtrQr<00>rrr<>r<>rZrrr<00>save_motor_param}s
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*
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change the PMAX VMAX TMAX of the motor 改变电机的PMAX VMAX TMAX
:param Motor_Type:
:param PMAX: 电机的PMAX
:param VMAX: 电机的VMAX
:param TMAX: 电机的TMAX
:return:
rr*rDN)rM)rZ
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CsZ|jd@}|jd?d@}t<01>t<01>|<02>t<01>|<03>ddddddgtj<03>}|<00>d|<04>|<00><05>dS)u9
get the motor status 获得电机状态
rGr,<00><>rr<>N)r rNrOrPrQrRr<>rrr<00>refresh_motor_status<75>s
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*  z!MotorControl.refresh_motor_statuscCs<>d}d}|<00>|||<03>t|<04>D].}|<00><02>|j|jvr9||j|jjvr9t|j|jj||<00>dkr6dSdSt|<05>qdS)u 
change the RID of the motor 改变电机的参数
:param Motor: Motor object 电机对象
:param RID: DM_variable 电机参数
:param data: 电机参数的值
:return: True or False ,True means success, False means fail
r1r<>rkTF)r<>r<>r<>r r8r<00>absr)rrr r~r<>r<>r<>rrr<00>change_motor_param<61>s 
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