Motor

`robodyno.components.webots.motor`

Provides a class to control webots motor.

The webots motor has the same interface as the can bus motor. The webots motor is used for simulation.

Examples:

from robodyno.components import Motor
from robodyno.interfaces import Webots
webots = Webots()
motor = Motor(webots, 0x10)

motor.position_track_mode(5, 2, 2)
motor.enable()
motor.set_pos(31.4)

while True:
    print(f'pos: {motor.get_pos():.2f}, vel: {motor.get_vel():.2f}')
    if webots.sleep(0.5) == -1:
        break

`Motor`

Bases: WebotsDevice

Webots motor component.

Attributes:

Name	Type	Description
`id`	`int`	ID of the motor.
`type`	`Model`	Type of the motor.
`reduction`	`float`	Reduction of the motor.
`available_velocity`	`float`	The maximum velocity of the motor.
`available_torque`	`float`	The maximum torque of the motor.
`available_current`	`float`	The maximum phase current of the motor.
`torque_constant`	`float`	The torque constant of the motor in Nm/A. This is the torque provided by the motor when the current is 1A.
`with_brake`	`bool`	Whether the motor has a brake.
`state`	`Motor.MotorState`	The working state of the motor.
`mode`	`Motor.MotorControlMode`	The control mode of the motor.

`init(webots, id_=16, type_=None, twin=None)`

Initialize the motor.

Parameters:

Name	Type	Description	Default
`webots`	`Webots`	The instance of Webots class.	required
`id_`	`int`	ID of the motor. Defaults to 0x10.	`16`
`type_`	`Optional[str]`	Force the motor type. Defaults to None.	`None`
`twin`	`Optional[CanBus]`	The twin motor. Defaults to None.	`None`

Raises:

Type	Description
`ValueError`	The motor type is invalid.

`parallel_step()`

See base class.

`step()`

See base class.

`enable()`

Enables the motor.

`disable()`

Disables the motor.

`twin_mode()`

Sets the motor to digital twin mode.

`position_mode()`

Sets the motor to position mode.

`position_filter_mode(bandwidth)`

Sets the motor to position filter mode.

Parameters:

Name	Type	Description	Default
`bandwidth`	`float`	The bandwidth of the filter in Hz. The value is suggested to be the control loop frequency in Hz.	required

`position_track_mode(vel, acc, dec)`

Sets the motor to position track mode.

Parameters:

Name	Type	Description	Default
`vel`	`float`	The velocity limit in rad/s.	required
`acc`	`float`	The acceleration in rad/s^2. The value must be positive.	required
`dec`	`float`	The deceleration in rad/s^2. The value must be positive.	required

`velocity_mode()`

Sets the motor to velocity mode.

`velocity_ramp_mode(ramp)`

Sets the motor to velocity ramp mode.

Parameters:

Name	Type	Description	Default
`ramp`	`float`	The velocity ramp in rad/s^2. The value must be positive.	required

`torque_mode()`

Sets the motor to torque mode.

`set_pos(pos, vel_ff=0, torque_ff=0)`

Sets the target position of the motor.

velocity feedforward and torque feedforward are not supported in Webots.

Parameters:

Name	Type	Description	Default
`pos`	`float`	The target position in rad.	required

`set_abs_pos(pos, vel_ff=0, torque_ff=0)`

Sets the target absolute position of the motor.

velocity feedforward and torque feedforward are not supported in Webots.

Parameters:

Name	Type	Description	Default
`pos`	`float`	The target absolute position in rad.	required

`set_vel(vel, torque_ff=0)`

Sets the target velocity of the motor.

Parameters:

Name	Type	Description	Default
`vel`	`float`	The target velocity in rad/s.	required

`set_torque(torque)`

Sets the target torque of the motor.

Parameters:

Name	Type	Description	Default
`torque`	`float`	The target torque in Nm.	required

`set_vel_limit(vel_lim)`

Sets the velocity limit of the motor.

Parameters:

Name	Type	Description	Default
`vel_lim`	`float`	The velocity limit in rad/s. The value must be positive.	required

Raises:

Type	Description
`ValueError`	If the velocity limit is out of range.

`set_current_limit(current_lim)`

Sets the current limit of the motor.

Parameters:

Name	Type	Description	Default
`current_lim`	`float`	The current limit in amps. The value must be positive.	required

Raises:

Type	Description
`ValueError`	If the current limit is out of range.