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Damiao Parameter and API Reference (Python SDK)

This document lists Damiao control/configuration interfaces exposed by the motorbridge Python package.

中文版: DAMIAO_API.zh-CN.md

1) Control Modes and Runtime Parameters

MIT (Mode.MIT)

  • pos: target position
  • vel: target velocity
  • kp: position stiffness gain
  • kd: velocity damping gain
  • tau: feedforward torque

POS_VEL (Mode.POS_VEL)

  • pos: target position
  • vlim: velocity limit

VEL (Mode.VEL)

  • vel: target velocity

FORCE_POS (Mode.FORCE_POS)

  • pos: target position
  • vlim: velocity limit
  • ratio: torque limit ratio

2) Python API Surface (Controller/Motor)

Controller:

  • Controller(channel)
  • enable_all() / disable_all()
  • poll_feedback_once()
  • shutdown() / close_bus() / close()
  • add_damiao_motor(motor_id, feedback_id, model)

Motor:

  • control: enable(), disable(), clear_error(), set_zero_position()
    • project rule: call disable() before set_zero_position()
    • Python API has no ms argument for set-zero; core applies fixed 20ms settle internally
  • mode: ensure_mode(mode, timeout_ms=1000)
  • command: send_mit(), send_pos_vel(), send_vel(), send_force_pos()
  • ops: request_feedback(), store_parameters(), set_can_timeout_ms(timeout_ms)
  • register: write_register_f32/u32(), get_register_f32/u32()
  • state: get_state()

3) Built-in Damiao Register Metadata (in package)

You can import built-in register metadata directly:

from motorbridge import (
    DAMIAO_RW_REGISTERS,
    DAMIAO_HIGH_IMPACT_RIDS,
    DAMIAO_PROTECTION_RIDS,
    get_damiao_register_spec,
    RID_CTRL_MODE,
)

print(DAMIAO_RW_REGISTERS[22])  # VMAX spec
print(DAMIAO_HIGH_IMPACT_RIDS)
print(get_damiao_register_spec(RID_CTRL_MODE))

Print all currently exported tunable registers with ranges:

from motorbridge import DAMIAO_RW_REGISTERS

for rid in sorted(DAMIAO_RW_REGISTERS):
    spec = DAMIAO_RW_REGISTERS[rid]
    print(f"rid={rid:>2} {spec.variable:<10} type={spec.data_type} range={spec.range_str} desc={spec.description}")

Exported constants:

  • ID/mode related: RID_MST_ID, RID_ESC_ID, RID_CTRL_MODE, RID_TIMEOUT
  • mode values: MODE_MIT, MODE_POS_VEL, MODE_VEL, MODE_FORCE_POS

4) High-impact RIDs (Priority)

  • 21 PMAX, 22 VMAX, 23 TMAX
  • 25 KP_ASR, 26 KI_ASR, 27 KP_APR, 28 KI_APR
  • 4 ACC, 5 DEC, 6 MAX_SPD, 9 TIMEOUT

5) Protection RIDs

  • 0 UV_Value, 2 OT_Value, 3 OC_Value, 29 OV_Value

6) Recommended Tuning Workflow

  1. Read old value (get_register_*)
  2. Write new value (write_register_*)
  3. Read back for verification
  4. Persist with store_parameters()

7) Full Damiao Tuning Table

For a full operation/tuning table and command examples, see: