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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())

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Motor methods

MethodDescription
enable() / disable()Enable motor / engage brake
clear_errors()Clear latched error flags
set_zero_position()Save current position as encoder zero (persisted to flash). Calibrated at a mechanical end stop, not the rest position
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.positionCached position (rad); populated by telemetry or set_impedance responses
motor.torqueCached torque (Nm); populated by telemetry with torque=True

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ControlMode values

ValueDescription
IMPEDANCEMIT impedance control (arm joints)
POSITION_VELOCITYMotor built-in position controller
VELOCITYMotor built-in speed controller
POSITION_FORCEPosition with hard torque cap; Damiao only (gripper)

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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

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Joint → driver mapping

JointDriverCAN ID
SHOULDER_1 – WRIST_1MyActuator0x01 – 0x05
WRIST_2, WRIST_3, GRIPPERDamiao0x06 – 0x08