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new file: .vscode/settings.json new file: Legs_controller.py modified: README.md new file: __pycache__/Legs_controller.cpython-310.pyc new file: __pycache__/Legs_controller.cpython-313.pyc new file: __pycache__/balance.cpython-310.pyc new file: __pycache__/gradio.cpython-310.pyc new file: __pycache__/gradio.cpython-313.pyc new file: app_ui.py new file: balance.py new file: build/.cmake/api/v1/query/client-vscode/query.json new file: build/.cmake/api/v1/reply/cache-v2-ae4a9db768b4bbb36baa.json new file: build/.cmake/api/v1/reply/cmakeFiles-v1-389eb8769a8295e7571d.json new file: build/.cmake/api/v1/reply/codemodel-v2-5ea8cfc0b9263cbe5ae5.json new file: build/.cmake/api/v1/reply/directory-.-Debug-f5ebdc15457944623624.json new file: build/.cmake/api/v1/reply/index-2025-09-11T04-53-20-0515.json new file: build/.cmake/api/v1/reply/target-imu_py-Debug-3913d741f2156d7faae9.json new file: build/.cmake/api/v1/reply/toolchains-v1-3105704d088db7adbfb5.json new file: build/CMakeCache.txt new file: build/CMakeFiles/3.22.1/CMakeCXXCompiler.cmake new file: build/CMakeFiles/3.22.1/CMakeDetermineCompilerABI_CXX.bin new file: build/CMakeFiles/3.22.1/CMakeSystem.cmake new file: build/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp new file: build/CMakeFiles/3.22.1/CompilerIdCXX/a.out new file: build/CMakeFiles/CMakeDirectoryInformation.cmake new file: build/CMakeFiles/CMakeOutput.log new file: build/CMakeFiles/Makefile.cmake new file: build/CMakeFiles/Makefile2 new file: build/CMakeFiles/TargetDirectories.txt new file: build/CMakeFiles/cmake.check_cache new file: build/CMakeFiles/imu_py.dir/DependInfo.cmake new file: build/CMakeFiles/imu_py.dir/build.make new file: build/CMakeFiles/imu_py.dir/cmake_clean.cmake new file: build/CMakeFiles/imu_py.dir/compiler_depend.make new file: build/CMakeFiles/imu_py.dir/compiler_depend.ts new file: build/CMakeFiles/imu_py.dir/depend.make new file: build/CMakeFiles/imu_py.dir/flags.make new file: build/CMakeFiles/imu_py.dir/link.txt new file: build/CMakeFiles/imu_py.dir/progress.make new file: build/CMakeFiles/progress.marks new file: build/Makefile new file: build/cmake_install.cmake new file: build/compile_commands.json new file: dm_imu/bsp_crc.cpp new file: dm_imu/bsp_crc.h new file: dm_imu/imu_data.csv new file: dm_imu/imu_driver.cpp new file: dm_imu/imu_driver.h new file: dm_imu/imu_plot.png new file: dm_imu/plot_imu.py new file: dm_imu/test_imu.cpp new file: imu_data.csv new file: pybind_imu/CMakeLists.txt new file: pybind_imu/README.md new file: pybind_imu/build/CMakeCache.txt new file: pybind_imu/build/CMakeFiles/3.22.1/CMakeCXXCompiler.cmake new file: pybind_imu/build/CMakeFiles/3.22.1/CMakeDetermineCompilerABI_CXX.bin new file: pybind_imu/build/CMakeFiles/3.22.1/CMakeSystem.cmake new file: pybind_imu/build/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp new file: pybind_imu/build/CMakeFiles/3.22.1/CompilerIdCXX/a.out new file: pybind_imu/build/CMakeFiles/CMakeDirectoryInformation.cmake new file: pybind_imu/build/CMakeFiles/CMakeOutput.log new file: pybind_imu/build/CMakeFiles/Makefile.cmake new file: pybind_imu/build/CMakeFiles/Makefile2 new file: pybind_imu/build/CMakeFiles/TargetDirectories.txt new file: pybind_imu/build/CMakeFiles/cmake.check_cache new file: pybind_imu/build/CMakeFiles/imu_py.dir/DependInfo.cmake new file: pybind_imu/build/CMakeFiles/imu_py.dir/build.make new file: pybind_imu/build/CMakeFiles/imu_py.dir/cmake_clean.cmake new file: pybind_imu/build/CMakeFiles/imu_py.dir/compiler_depend.make new file: pybind_imu/build/CMakeFiles/imu_py.dir/compiler_depend.ts new file: pybind_imu/build/CMakeFiles/imu_py.dir/depend.make new file: pybind_imu/build/CMakeFiles/imu_py.dir/flags.make new file: pybind_imu/build/CMakeFiles/imu_py.dir/home/allenyuan/balance/dm_imu/bsp_crc.cpp.o new file: pybind_imu/build/CMakeFiles/imu_py.dir/home/allenyuan/balance/dm_imu/bsp_crc.cpp.o.d new file: pybind_imu/build/CMakeFiles/imu_py.dir/home/allenyuan/balance/dm_imu/imu_driver.cpp.o new file: pybind_imu/build/CMakeFiles/imu_py.dir/home/allenyuan/balance/dm_imu/imu_driver.cpp.o.d new file: pybind_imu/build/CMakeFiles/imu_py.dir/link.txt new file: pybind_imu/build/CMakeFiles/imu_py.dir/progress.make new file: pybind_imu/build/CMakeFiles/imu_py.dir/pybind_imu.cpp.o new file: pybind_imu/build/CMakeFiles/imu_py.dir/pybind_imu.cpp.o.d new file: pybind_imu/build/CMakeFiles/progress.marks new file: pybind_imu/build/Makefile new file: pybind_imu/build/cmake_install.cmake new file: pybind_imu/build/imu_py.cpython-310-aarch64-linux-gnu.so new file: pybind_imu/example.py new file: pybind_imu/pybind_imu.cpp new file: src/example.py new file: test_imu new file: u2can/DM_CAN.py new file: u2can/DM_Motor_Test.py new file: u2can/LICENSE new file: u2can/README.md new file: u2can/__pycache__/DM_CAN.cpython-310.pyc new file: u2can/__pycache__/DM_CAN.cpython-312.pyc new file: u2can/__pycache__/DM_CAN.cpython-313.pyc new file: u2can/__pycache__/gradio.cpython-313.pyc new file: u2can/__pycache__/motor_interface.cpython-313.pyc new file: u2can/motor_interface.py new file: u2can/requirements.txt new file: ui.log
2025-12-06 22:47:57 +08:00
<EFBFBD>
<0E><>hjX<00><00><00>SSKJr SSKrSSKJr SSKJr SSKJr "SS5r "SS 5r
S
r S \ S \ S \ 4Sjr S \RS\ S\ 4SjrSrSrSrSrSrSrSr"SS\5r"SS\5r"SS\5rg)<1F>)<01>sleepN)<01>IntEnum)<01>unpack)<01>packc<00>H<00>\rSrSrSrS\S\S\4SjrSrSrS r S
r
S r g ) <0A>Motor<6F>c<00><00>[S5Ul[S5Ul[S5Ul[S5Ul[S5UlX lX0lXlSUl [RUl 0Ul g)u<>
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
rFN)<0E>float<61>Pd<50>Vd<56>state_q<5F>state_dq<64> state_tau<61>SlaveID<49>MasterID<49> MotorType<70>isEnable<6C> Control_Type<70>MIT<49>NowControlMode<64>temp_param_dict)<04>selfrrrs <20>'/home/allenyuan/balance/u2can/DM_CAN.py<70>__init__<5F>Motor.__init__ sg<00><00><18><01>(<28><04><07><17><01>(<28><04><07><1C>Q<EFBFBD>x<EFBFBD><04> <0C><1D>a<EFBFBD><08><04> <0A><1E>q<EFBFBD><18><04><0E><1E> <0C> <20> <0A>"<22><0E><1D><04> <0A>*<2A>.<2E>.<2E><04><1B>!<21><04><1C><00>q<>dq<64>tauc<00>(<00>XlX lX0lg<00>N)rrr)rrrr s r<00> recv_data<74>Motor.recv_datas<00><00><18> <0C><1A> <0A><1C>rc<00><00>UR$)ub
get the position of the motor 获取电机位置
:return: the position of the motor 电机位置
)r<00>rs r<00> getPosition<6F>Motor.getPosition!s<00><00>
<14>|<7C>|<7C>rc<00><00>UR$)ub
get the velocity of the motor 获取电机速度
:return: the velocity of the motor 电机速度
)rr&s r<00> getVelocity<74>Motor.getVelocity(s<00><00>
<14>}<7D>}<7D>rc<00><00>UR$)u^
get the torque of the motor 获取电机力矩
:return: the torque of the motor 电机力矩
)rr&s r<00> getTorque<75>Motor.getTorque/s<00><00>
<14>~<7E>~<7E>rc<00>@<00>XR;aURU$g)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>RIDs r<00>getParam<61>Motor.getParam6s$<00><00> <0F>&<26>&<26> &<26><17>'<27>'<27><03>,<2C> ,<2C>r) rrrr rr rrrrrN) <0C>__name__<5F>
__module__<EFBFBD> __qualname__<5F>__firstlineno__rr r#r'r*r-r1<00>__static_attributes__<5F>rrrrs5<00><00>"<22>&<1D>5<EFBFBD><1D>e<EFBFBD><1D>%<25><1D>
<1C><1D><1E> rrc <00><><00>\rSrSr\R
"/SQ\R 5r/SQ/SQ/SQ/SQ/SQ/SQ/S Q/S
Q/S Q/S Q/S Q/S Q/ rSr S\
S\
S\
S\
S\
4
Sjr S\
S\
S\
S\
S\
S\
4 Sjr S\
S\
4Sjr SrS\
4SjrSrSrSrS rS!rS"rS#rS$rS%rS&\R 4S'jrS(rS)rS*rS+rS,rS-rS.r S/r!S0r"S1r#S2r$g3)4<> MotorControl<6F>B)<1E>U<00><><00><00><00>rrr<00>
rrrrrrrrrr rrrrrrrrrrr)<03>)@r>rA)rB<00>2rA)rBr <00>)rBrArD)rB<00>-<00>)rBrE<00>()rBrE<00>6)rB<00><00><>)rBrFrJ)rBir@)rBrErAc<00><><00>Xl[5Ul[5UlURR
(a[ S5 UR5 URR5 g)uf
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_devices rr<00>MotorControl.__init__MsM<00><00>
%<25> <0C><1E>&<26><04><0F><1E><17><04><0E> <0F><<3C><<3C> <1F> <1F> <11>'<27> (<28> <19> <1F> <1F> !<21> <0C> <0C> <0C><19><19>r<00>kp<6B>kdrrr c<00><><00>URUR;a [S5 g[USSS5n[USSS5nURn UR
U Sn
UR
U Sn UR
U Sn [XJ*U
S 5n [X[*U S5n[Xl*U S5n[ R"/S
Q[ R5nU S - S -US'U S -US'US - US'US-S -US - S--US'US -US 'US - US'US-S -US - S--US'US -US'URURU5 UR5 g)u<>
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>) rrNrR<00> float_to_uintr<00> Limit_Param<61>np<6E>array<61>uint8<74>_MotorControl__send_data<74>recv)r<00>DM_MotorrWrXrrr <00>kp_uint<6E>kd_uintr<00>Q_MAX<41>DQ_MAX<41>TAU_MAX<41>q_uint<6E>dq_uint<6E>tau_uint<6E>data_bufs r<00>
controlMIT<EFBFBD>MotorControl.controlMITZs<><00><00> <14> <1B> <1B>4<EFBFBD>?<3F>?<3F> 2<> <11>9<> :<3A> <12><1F><02>A<EFBFBD>s<EFBFBD>B<EFBFBD>/<2F><07><1F><02>A<EFBFBD>q<EFBFBD>"<22>-<2D><07><1C>&<26>&<26> <09><14> <20> <20><19>+<2B>A<EFBFBD>.<2E><05><15>!<21>!<21>)<29>,<2C>Q<EFBFBD>/<2F><06><16>"<22>"<22>9<EFBFBD>-<2D>a<EFBFBD>0<><07><1E>q<EFBFBD>&<26>%<25><12>4<><06><1F><02>G<EFBFBD>V<EFBFBD>R<EFBFBD>8<><07> <20><13>h<EFBFBD><07><12><<3C><08><15>8<EFBFBD>8<EFBFBD>L<>b<EFBFBD>h<EFBFBD>h<EFBFBD>W<><08><1D><11>{<7B>d<EFBFBD>*<2A><08><11> <0B><1C>t<EFBFBD>m<EFBFBD><08><11> <0B><1D><11>l<EFBFBD><08><11> <0B><1F>#<23> <0A>!<21>+<2B><17>A<EFBFBD><1C><13>0D<30>E<><08><11> <0B><1D><04>n<EFBFBD><08><11> <0B><1D><11>l<EFBFBD><08><11> <0B><1F>#<23> <0A>!<21>+<2B><18>Q<EFBFBD><1D>#<23>0E<30>F<><08><11> <0B><1E><14>o<EFBFBD><08><11> <0B> <0C><18><18><18>)<29>)<29>8<EFBFBD>4<> <0C> <09> <09> r<00>delayc<00>@<00>URXX4XV5 [U5 g)u.
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)rur)rrkrWrXrrr rws r<00> control_delay<61>MotorControl.control_delay}s<00><00> <0A><0F><0F><08>b<EFBFBD>R<EFBFBD>5<> <0A>e<EFBFBD> r<00> P_desired<65> V_desiredc<00>:<00>URUR;a [S5 gSUR-n[R"/SQ[R
5n[ U5n[ U5nXeSS&XuSS&URXE5 UR5 g)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>r^rr`r <00> rrNrRrfrgrh<00>float_to_uint8srirj)rrr{r|<00>motoridrt<00>P_desired_uint8s<38>V_desired_uint8ss r<00>control_Pos_Vel<65>MotorControl.control_Pos_Vel<65>s<><00><00> <11>=<3D>=<3D><04><0F><0F> /<2F> <11>><3E> ?<3F> <12><17>%<25>-<2D>-<2D>'<27><07><15>8<EFBFBD>8<EFBFBD>L<>b<EFBFBD>h<EFBFBD>h<EFBFBD>W<><08>*<2A>9<EFBFBD>5<><18>*<2A>9<EFBFBD>5<><18>(<28><11>1<EFBFBD> <0A>(<28><11>1<EFBFBD> <0A> <0C><18><18><17>+<2B> <0C> <09> <09> rc<00><00>URUR;a [S5 gSUR-n[R"/SQ[R
5n[ U5nXTSS&URX45 UR5 g)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 foundNir^rr`r)rr<00> Vel_desiredr<64>rt<00>Vel_desired_uint8ss r<00> control_Vel<65>MotorControl.control_Vel<65>sn<00><00> <11>=<3D>=<3D><04><0F><0F> /<2F> <11>:<3A> ;<3B> <12><17>%<25>-<2D>-<2D>'<27><07><15>8<EFBFBD>8<EFBFBD>L<>b<EFBFBD>h<EFBFBD>h<EFBFBD>W<><08>,<2C>[<5B>9<><1A>*<2A><11>1<EFBFBD> <0A> <0C><18><18><17>+<2B> <0C> <09> <09> r<00>Pos_desc<00><><00>URUR;a [S5 gSUR-n[R"/SQ[R
5n[ U5nXvSS&[R"U5n[R"U5n US-US'US- US 'U S-US
'U S- US 'URXV5 UR5 g) uj
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 foundNir^rr`r_r r[rbrc)
rrNrRrfrgrhr<><00>uint16rirj)
rrr<><00>Vel_des<65>i_desr<73>rt<00>Pos_desired_uint8s<38>Vel_uint<6E> ides_uints
r<00>control_pos_force<63>MotorControl.control_pos_force<63>s<><00><00> <11>=<3D>=<3D><04><0F><0F> /<2F> <11>><3E> ?<3F> <12><17>%<25>-<2D>-<2D>'<27><07><15>8<EFBFBD>8<EFBFBD>L<>b<EFBFBD>h<EFBFBD>h<EFBFBD>W<><08>,<2C>W<EFBFBD>5<><1A>*<2A><11>1<EFBFBD> <0A><15>9<EFBFBD>9<EFBFBD>W<EFBFBD>%<25><08><16>I<EFBFBD>I<EFBFBD>e<EFBFBD>$<24> <09><1E><14>o<EFBFBD><08><11> <0B><1E>!<21>m<EFBFBD><08><11> <0B><1F>$<24>&<26><08><11> <0B><1F>1<EFBFBD>n<EFBFBD><08><11> <0B> <0C><18><18><17>+<2B> <0C> <09> <09> rc<00><><00>URU[R"S55 [S5 UR 5 g)un
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
<EFBFBD><EFBFBD>皙<><E79A99><EFBFBD><EFBFBD><EFBFBD>?N<><05>_MotorControl__control_cmdrfrhrrj<00>rrs r<00>enable<6C>MotorControl.enable<6C>s,<00><00> <0A><1A><1A>5<EFBFBD>"<22>(<28>(<28>4<EFBFBD>.<2E>1<> <0A>c<EFBFBD>
<EFBFBD> <0C> <09> <09> rc<00><><00>[R"/SQ[R5n[U5S-
S-UR-nUR XC5 [ S5 UR5 g)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
)r_r_r_r_r_r_r_r<>r@r\r<>N)rfrgrh<00>intrrirrj)rr<00> ControlModert<00> enable_ids r<00>
enable_old<EFBFBD>MotorControl.enable_old<6C>sT<00><00><16>8<EFBFBD>8<EFBFBD>L<>b<EFBFBD>h<EFBFBD>h<EFBFBD>W<><08><19>+<2B>&<26>q<EFBFBD>(<28>Q<EFBFBD>.<2E>%<25>-<2D>-<2D>?<3F> <09> <0C><18><18><19>-<2D> <0A>c<EFBFBD>
<EFBFBD> <0C> <09> <09> rc<00>f<00>URU[R"S55 [S5 g)uD
disable motor 失能电机
:param Motor: Motor object 电机对象
<EFBFBD><EFBFBD>g{<14>G<EFBFBD>z<EFBFBD>?N)r<>rfrhrr<>s r<00>disable<6C>MotorControl.disable<6C>s#<00><00>
<0A><1A><1A>5<EFBFBD>"<22>(<28>(<28>4<EFBFBD>.<2E>1<> <0A>d<EFBFBD> rc<00><><00>URU[R"S55 [S5 UR 5 g)u]
set the zero position of the motor 设置电机0位
:param Motor: Motor object 电机对象
<EFBFBD><EFBFBD>r<>Nr<4E>r<>s r<00>set_zero_position<6F>MotorControl.set_zero_position<6F>s,<00><00>
<0A><1A><1A>5<EFBFBD>"<22>(<28>(<28>4<EFBFBD>.<2E>1<> <0A>c<EFBFBD>
<EFBFBD> <0C> <09> <09> rc<00><00>SRURURR5/5nUR U5nUH?nUSSnUSS-USS--USS --US
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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)rNrrr<>s r<00>addMotor<6F>MotorControl.addMotor<s3<00><00>
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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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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
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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:
r_r r=rr<>g<><67><EFBFBD><EFBFBD>MbP?N)rrfrgrhr<>rir<00>rrr<>r<>rts r<00>save_motor_param<61>MotorControl.save_motor_param}s<><00><00> <19>=<3D>=<3D>4<EFBFBD>'<27><08><19>M<EFBFBD>M<EFBFBD>Q<EFBFBD>&<26><14>-<2D><08><15>8<EFBFBD>8<EFBFBD>R<EFBFBD>X<EFBFBD>X<EFBFBD>h<EFBFBD>/<2F><12><18><18>(<28>1C<31>T<EFBFBD>4<EFBFBD>QU<51>W[<5B>]a<>cg<63>h<>jl<6A>jr<6A>jr<6A>s<><08> <0C> <0C> <0C>U<EFBFBD><1B> <0C><18><18><15><08>)<29> <0A>e<EFBFBD> rc<00>j<00>X RUS'X0RUS'X@RUS'g)u<>
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:
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get the motor status 获得电机状态
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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
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read only the RID of the motor 读取电机的内部信息例如 版本号等
:param Motor: Motor object 电机对象
:param RID: DM_variable 电机参数
:return: 电机参数的值
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:return:
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