Controller

class f28379d_drv8305_dual_comm.Controller(port=None, device_name=None, baud=115200)

Communicate using serial with a f28379d used to control two motors through drv8305.

set_control_mode(motor_no, mode)

Set motor control mode.

Parameters:

• motor_no (int) – 1 or 2

• mode (str) – Choose between ‘speed control’, ‘torque control’, ‘position control (speed)’, ‘position control (direct)’, ‘bang bang control’, and ‘impedance control’ modes

set_max_torque(motor_no, torque)

Set maximum torque in N m. Used in position control (speed), position control (direct), bang bang, and impedance control modes.

Parameters:

• motor_no (int) – 1 or 2

• torque (float) – Torque in N m (max torque = 4.3 N m)

set_speed(motor_no, speed)

Set target speed. Used in speed control mode.

Parameters:

• motor_no (int) – 1 or 2

• speed (float) – Rotational speed in rad/s (max speed = 30 rad/s)

set_pos(motor_no, pos)

Set target pos. Used in position control (speed), position control (direct), bang bang, and impedance control modes.

Parameters:

• motor_no (int) – 1 or 2

• pos (float) – Target angle in radians

set_current_measure_cutoff_freq(motor_no, freq)

Set the cutoff frequency for iq current filter. Used when estimating motor torque from phase currents.

Parameters:

• motor_no (int) – 1 or 2

• freq (float) – Cutoff frequency in Hz

set_torque_sensor_cutoff_freq(motor_no, freq)

Set the cutoff frequency for torque sensor filter. Used when measuring torque from torque sensor.

Parameters:

• motor_no (int) – 1 or 2

• freq (float) – Cutoff frequency in Hz

set_torque_sensor_scaling(motor_no, gradient)

Set the gradient of torque sensor calibration curve. Used for calibrating torque sensor.

Parameters:

• motor_no (int) – 1 or 2

• gradient (float) – gradient of torque sensor calibration line

set_torque_sensor_offset(motor_no, offset)

Set the offset of torque sensor calibration curve. Used for calibrating torque sensor.

Parameters:

• motor_no (int) – 1 or 2

• offset (float) – offset of torque sensor calibration line

set_direct_torque_p(motor_no, gain)

Set P gain for direct torque control. Used to regulate motor torque to achieve sensor torque target.

Parameters:

• motor_no (int) – 1 or 2

• gain (float) – Proportional gain

set_direct_torque_i(motor_no, gain)

Set I gain for direct torque control. Used to regulate motor torque to achieve sensor torque target.

Parameters:

• motor_no (int) – 1 or 2

• gain (float) – Integral gain

set_direct_torque_d(motor_no, gain)

Set D gain for direct torque control. Used to regulate motor torque to achieve sensor torque target.

Parameters:

• motor_no (int) – 1 or 2

• gain (float) – Derivative gain

set_direct_torque_d_cutoff_freq(motor_no, freq)

Set the derivative filter cutoff frequency (Hz) for direct torque control. Used to regulate motor torque to achieve sensor torque target.

Parameters:

• motor_no (int) – 1 or 2

• freq (float) – Cutoff frequency in Hz

set_speed_p(motor_no, gain)

Set P gain for speed control. Used in speed control and position control (speed) modes.

Parameters:

• motor_no (int) – 1 or 2

• gain (float) – Proportional gain

set_speed_i(motor_no, gain)

Set I gain for speed control. Used in speed control and position control (speed) modes.

Parameters:

• motor_no (int) – 1 or 2

• gain (float) – Integral gain

set_speed_d(motor_no, gain)

Set D gain for speed control. Used in speed control and position control (speed) modes.

Parameters:

• motor_no (int) – 1 or 2

• gain (float) – Derivative gain

set_speed_d_cutoff_freq(motor_no, freq)

Set the derivative filter cutoff frequency (Hz) for speed control. Used in speed control and position control (speed) modes.

Parameters:

• motor_no (int) – 1 or 2

• freq (float) – Cutoff frequency in Hz

set_hold_torque(motor_no, torque)

Set constant torque. Used in torque control mode and impedance control with torque mode.

Parameters:

• motor_no (int) – 1 or 2

• torque (float) – Torque in N m (max torque = 4.3 N m)

set_pos_p(motor_no, gain)

Set P gain for position control (speed). Used in position control (speed) mode.

Parameters:

• motor_no (int) – 1 or 2

• gain (float) – Proportional gain

set_pos_i(motor_no, gain)

Set I gain for position control (speed). Used in position control (speed) mode.

Parameters:

• motor_no (int) – 1 or 2

• gain (float) – Integral gain

set_pos_d(motor_no, gain)

Set D gain for position control (speed). Used in position control (speed) mode.

Parameters:

• motor_no (int) – 1 or 2

• gain (float) – Derivative gain

set_pos_d_cutoff_freq(motor_no, freq)

Set the derivative filter cutoff frequency (Hz) for position control (speed). Used in position control (speed) mode.

Parameters:

• motor_no (int) – 1 or 2

• freq (float) – Cutoff frequency in Hz

set_max_speed(motor_no, speed)

Set maximum target speed for position control. Used in position control (speed) mode.

Parameters:

• motor_no (int) – 1 or 2

• speed (float) – Rotational speed in rad/s (max speed = 30 rad/s)

set_pos_p_direct(motor_no, gain)

Set P gain for position control (direct). Used in position control (direct) mode.

Parameters:

• motor_no (int) – 1 or 2

• gain (float) – Proportional gain

set_pos_i_direct(motor_no, gain)

Set I gain for position control (direct). Used in position control (direct) mode.

Parameters:

• motor_no (int) – 1 or 2

• gain (float) – Integral gain

set_pos_d_direct(motor_no, gain)

Set D gain for position control (direct). Used in position control (direct) mode.

Parameters:

• motor_no (int) – 1 or 2

• gain (float) – Derivative gain

set_pos_d_direct_cutoff_freq(motor_no, freq)

Set the derivative filter cutoff frequency (Hz) for position control (direct). Used in position control (speed) mode.

Parameters:

• motor_no (int) – 1 or 2

• freq (float) – Cutoff frequency in Hz

set_bang_bang_torque(motor_no, torque)

Set constant torque in bang-bang control. Used in bang-bang control mode.

Parameters:

• motor_no (int) – 1 or 2

• torque (float) – Torque in N m (max torque = 4.3 N m)

set_bang_bang_deadband(motor_no, deadband)

Set deadband in radians in bang-bang control. Used in bang-bang control mode.

Parameters:

• motor_no (int) – 1 or 2

• deadband (float) – Deadband in radians

set_inertia(motor_no, inertia)

Set rotational inertia. Used in impedance control mode.

Parameters:

• motor_no (int) – 1 or 2

• inertia (float) – Inertia

set_damping(motor_no, damping)

Set rotational damping. Used in impedance control mode.

Parameters:

• motor_no (int) – 1 or 2

• damping (float) – Damping

set_stiffness(motor_no, stiffness)

Set rotational stiffness. Used in impedance control mode.

Parameters:

• motor_no (int) – 1 or 2

• stiffness (float) – Stiffness

set_zero_angle(motor_no)

Set zero angle. Used in position control (speed), position control (direct), bang bang, and impedance control modes.

Parameters:

motor_no (int) – 1 or 2

realign_motor(motor_no)

Realign motor.

Parameters:

motor_no (int) – 1 or 2

enable_motor(motor_no)

Enable motor.

Parameters:

motor_no (int) – 1 or 2

disable_motor(motor_no)

Disable motor.

Parameters:

motor_no (int) – 1 or 2

set_match_other_position(motor_no)

Set motor target position to current position of the other motor.

Parameters:

motor_no (int) – 1 or 2

unset_match_other_position(motor_no)

Unset motor target position to current position of the other motor.

Parameters:

motor_no (int) – 1 or 2

set_friction_torque(motor_no, torque)

Torque value for friction compensation.

Parameters:

• motor_no (int) – 1 or 2

• torque (float) – Friction compensation torque in N m

set_friction_vel_tolerance(motor_no, vel_tolerance)

Velocity tolerance for friction compensation.

Parameters:

• motor_no (int) – 1 or 2

• vel_tolerance (float) – Velocity in rad s-1

set_direct_torque_on(motor_no)

Set direct torque control on. (Adjust motor torque to target a torque sensor value)

Parameters:

motor_no (int) – 1 or 2

set_direct_torque_off(motor_no)

Set direct torque control off. (Adjust motor torque to target a torque sensor value)

Parameters:

motor_no (int) – 1 or 2

set_callback(cb_func)

Set callback function for when data from motors arrives. The data in the form of a dictionary will be pass to this function.

Parameters:

cb_func (Callable[[dict], None]) – function with one argument

remove_callback()

Remove callback function.

get_from_queue()

Data from motors are put into a read queue by default. To get data from motors, either read from this queue or set a callback function.

get_pos(motor_no)

Get current pos.

Parameters:

motor_no (int) – 1 or 2

Returns:

Current position in radians

Return type:

float

get_speed(motor_no)

Get current speed.

Parameters:

motor_no (int) – 1 or 2

Returns:

Current speed in rad/s

Return type:

float

get_torque(motor_no)

Get current torque.

Parameters:

motor_no (int) – 1 or 2

Returns:

Current torque in N m

Return type:

float

disconnect()

Disconnect serial.