pyCyberGear: Control the CyberGear motor with Python

Description

PyCyberGear is a Python library that allows you to control the CyberGear motor with Python. It provides a simple and easy-to-use interface to control the motor. The library suppprts:

• Enable and stop the motor
• Set motion mode: Impedance Control Mode, Position Mode, Speed Mode, Torque Mode
• Control the motor with the four modes
• Set zero position and ID
• Clear error and restore configuration
• Get the current position, velocity, voltage, and current

Hardware Requirements

To use pyCyberGear, you need the following hardware:

• CyberGear motor
• DR USB-to-CAN adapter or YourCee USB-to-CAN adapter
• 24V10A power supply
• Power board

Installation

The pyCyberGear library supports Python 3.9 - 3.12, tested on Windows 11 and Ubuntu 22.04.

Install the latest release with:

git clone https://github.com/han-xudong/pyCyberGear.git
cd pyCyberGear
pip install pip -U
pip install -r requirements.txt

Quick Start

Here is an example of how to init pyCyberGear:

from pycybergear import CyberGear

cybergear = CyberGear(com_port="{YOUR_COM_PORT}", baud_rate=115200, model={YOUR_USB-TO-CAN})

Two kinds of USB-to-CAN adaptors are supported, including DR's (model="DR") and YourCee's (model="CAN").

Here are some of the functions that you can use with pyCyberGear:

• motor_enable: Enable the motor

cybergear.motor_enable(id_num='{MOTOR_ID}')

• motor_stop: Stop the motor.

cybergear.motor_estop(id_num='{MOTOR_ID}')

• set_mode: Set motion mode: 0, Impedance Control Mode; 1, Position Mode; 2, Speed Mode; 3, Torque Mode.

cybergear.set_mode(id_num='{MOTOR_ID}', mode=0)

• impedance_control: Control the specified motor with impedance.

cybergear.impedance_control(id_num='{MOTOR_ID}', pos='{ANGLE}', vel='{VELOCITY}', tff='{FEEDFORWARD_TORQUE}', kp='{PROPORTIONAL_GAIN}', kd='{DERIVATIVE_GAIN}')

• 'set_pos`: Control the specified motor to rotate to the specified angle at the specified speed.

cybergear.set_pos(id_num='{MOTOR_ID}', pos='{ANGLE}', vel='{VELOCITY}')

• set_vel: Control the specified motor to rotate at the specified speed.

cybergear.set_vel(id_num='{MOTOR_ID}', vel='{VELOCITY}')

• set_torque: Control the specified motor to rotate to output the specified torque (Nm).

cybergear.set_torque(id_num='{MOTOR_ID}', torque='{TORQUE}')

• set_zero: Set the current position of the motor as the zero position.

cybergear.set_zero(id_num='{MOTOR_ID}')

• set_id: Set the ID of the motor.

cybergear.set_id(id_num='{MOTOR_ID}', new_id='{NEW_MOTOR_ID}')

• clear_error: Clear the error of the motor.

cybergear.clear_error(id_num='{MOTOR_ID}')

• restore_config: Restore motor parameters to factory settings.

cybergear.restore_config(id_num='{MOTOR_ID}')

• get_posvel: Get the current position and velocity of the motor.

cybergear.get_posvel(id_num='{MOTOR_ID}')

• get_volcur: Get the current voltage and current of the motor.

cybergear.get_volcur(id_num='{MOTOR_ID}')

Examples

Here are several examples in the 'examples' folder that you can refer to:

• cybergear_position_mode: Control the motor in position mode.

python examples/cybergear_position_mode.py

• cybergear_speed_mode: Control the motor in speed mode.

python examples/cybergear_speed_mode.py

• cybergear_loop: Control the motor for loop motion.

python examples/cybergear_loop.py

License and Acknowledgement

PyCyberGear is licensed under the MIT License.

We sincerely thank the developers of the DrEmpower Wiki for the core implementation of the CyberGear motor control library with their USB-to-CAN adapter.