Documentation Index
Fetch the complete documentation index at: https://docs.almond.bot/llms.txt
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Low-level async SocketCAN interface for individual motors. Most users work through Axol — this layer is exposed for diagnostics, custom control modes, and bench testing individual motors.
from almond_axol.motor import CanBus, Motor, ControlMode, MotorStatus, MotorGains, Joint
import asyncio
from almond_axol.motor import CanBus, Motor, ControlMode, Joint
async def main():
async with CanBus("can_alm_axol_l") as bus:
elbow = Motor(bus, Joint.ELBOW)
await elbow.enable()
await elbow.set_control_mode(ControlMode.IMPEDANCE)
pos = await elbow.get_position() # rad
print("elbow position:", pos)
await elbow.set_impedance(p_des=pos, v_des=0.0, kp=100.0, kd=2.0, t_ff=0.0)
await elbow.disable()
asyncio.run(main())
Motor methods
| Method | Description |
|---|
enable() / disable() | Enable motor / engage brake |
clear_errors() | Clear latched error flags |
set_zero_position() | Save current position as encoder zero (persisted to flash) |
set_control_mode(mode) | Set ControlMode; required before mode-specific commands |
get_control_mode() | Read active mode from hardware (None for MyActuator) |
get_position() | Shaft position (rad); raises if telemetry is active |
get_velocity() | Shaft velocity (rad/s) |
get_torque() | Torque estimate (Nm); raises if telemetry is active |
get_temperature() | Motor temperature (°C) |
get_voltage() | Bus voltage (V) |
get_error_code() | MotorStatus |
get_gains() / set_gains(gains) | Read/write PID gains (persisted to flash) |
set_impedance(p_des, v_des, kp, kd, t_ff) | MIT impedance command; requires IMPEDANCE mode |
set_position_velocity(position, max_speed) | Built-in position controller; requires POSITION_VELOCITY mode |
set_velocity(velocity) | Built-in speed controller; requires VELOCITY mode |
set_position_force(position, max_speed, max_torque) | Damiao only; requires POSITION_FORCE mode |
set_acceleration(acceleration, deceleration) | Acceleration ramp (rad/s²) |
set_can_id(can_id) | Change CAN ID (persisted to flash) |
start_telemetry(hz, torque=False) / stop_telemetry() | Background polling loop |
motor.position | Cached position (rad); populated by telemetry or set_impedance responses |
motor.torque | Cached torque (Nm); populated by telemetry with torque=True |
ControlMode values
| Value | Description |
|---|
IMPEDANCE | MIT impedance control (arm joints) |
POSITION_VELOCITY | Motor built-in position controller |
VELOCITY | Motor built-in speed controller |
POSITION_FORCE | Position with hard torque cap; Damiao only (gripper) |
MotorStatus values
OK, DISABLED, OVER_VOLTAGE, UNDER_VOLTAGE, OVER_CURRENT, OVER_TEMPERATURE, MOS_OVER_TEMP, ROTOR_OVER_TEMP, LOST_COMM, OVERLOAD, MOTOR_STALL*, ENCODER_ERROR*, POWER_OVERRUN*, SPEEDING*, UNKNOWN
* MyActuator only
Joint → driver mapping
| Joint | Driver | CAN ID |
|---|
SHOULDER_1 – WRIST_1 | MyActuator | 0x01 – 0x05 |
WRIST_2, WRIST_3, GRIPPER | Damiao | 0x06 – 0x08 |
