almond_axol.motor

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). 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_model()`	Motor model string, e.g. `"X8S2V"` (`None` for Damiao)
`get_firmware_version()`	Firmware VersionDate `int`, e.g. `2026042402` (`None` for Damiao)
`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.has_position`	`True` once a position has been cached (i.e. telemetry has warmed up)
`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*, CALIBRATION_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`

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almond_axol.motor

`Motor` methods

`ControlMode` values

`MotorStatus` values

Joint → driver mapping

​Motor methods

​ControlMode values

​MotorStatus values

​Joint → driver mapping

`Motor` methods

`ControlMode` values

`MotorStatus` values

Joint → driver mapping