add 00

kscalelabs · Oct 29, 2024 · 02913fc · 02913fc
1 parent a808bc2
commit 02913fc
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Showing 2 changed files with 39 additions and 15 deletions.
diff --git a/actuator/bindings/src/lib.rs b/actuator/bindings/src/lib.rs
@@ -474,20 +474,23 @@ impl PartialEq for PyRobstrideMotorType {
 #[pymethods]
 impl PyRobstrideMotorType {
     #[classattr]
-    const TYPE01: Self = PyRobstrideMotorType { value: 0 };
+    const TYPE00: Self = PyRobstrideMotorType { value: 0 };
     #[classattr]
-    const TYPE02: Self = PyRobstrideMotorType { value: 1 };
+    const TYPE01: Self = PyRobstrideMotorType { value: 1 };
     #[classattr]
-    const TYPE03: Self = PyRobstrideMotorType { value: 2 };
+    const TYPE02: Self = PyRobstrideMotorType { value: 2 };
     #[classattr]
-    const TYPE04: Self = PyRobstrideMotorType { value: 3 };
+    const TYPE03: Self = PyRobstrideMotorType { value: 3 };
+    #[classattr]
+    const TYPE04: Self = PyRobstrideMotorType { value: 4 };
 
     fn __repr__(&self) -> PyResult<String> {
         let type_name = match self.value {
-            0 => "TYPE01",
-            1 => "TYPE02",
-            2 => "TYPE03",
-            3 => "TYPE04",
+            0 => "TYPE00",
+            1 => "TYPE01",
+            2 => "TYPE02",
+            3 => "TYPE03",
+            4 => "TYPE04",
             _ => "Unknown",
         };
         Ok(format!("PyRobstrideMotorType::{}", type_name))
@@ -515,6 +518,7 @@ impl PyRobstrideMotorType {
 impl From<RobstrideMotorType> for PyRobstrideMotorType {
     fn from(motor_type: RobstrideMotorType) -> Self {
         match motor_type {
+            RobstrideMotorType::Type00 => PyRobstrideMotorType::TYPE00,
             RobstrideMotorType::Type01 => PyRobstrideMotorType::TYPE01,
             RobstrideMotorType::Type02 => PyRobstrideMotorType::TYPE02,
             RobstrideMotorType::Type03 => PyRobstrideMotorType::TYPE03,
@@ -526,10 +530,11 @@ impl From<RobstrideMotorType> for PyRobstrideMotorType {
 impl From<PyRobstrideMotorType> for RobstrideMotorType {
     fn from(py_motor_type: PyRobstrideMotorType) -> Self {
         match py_motor_type.value {
-            0 => RobstrideMotorType::Type01,
-            1 => RobstrideMotorType::Type02,
-            2 => RobstrideMotorType::Type03,
-            3 => RobstrideMotorType::Type04,
+            0 => RobstrideMotorType::Type00,
+            1 => RobstrideMotorType::Type01,
+            2 => RobstrideMotorType::Type02,
+            3 => RobstrideMotorType::Type03,
+            4 => RobstrideMotorType::Type04,
             _ => RobstrideMotorType::Type04,
         }
     }

diff --git a/actuator/robstride/src/lib.rs b/actuator/robstride/src/lib.rs
@@ -46,6 +46,24 @@ pub struct MotorConfig {
 lazy_static! {
     pub static ref ROBSTRIDE_CONFIGS: HashMap<MotorType, MotorConfig> = {
         let mut m = HashMap::new();
+        m.insert(
+            MotorType::Type00,
+            MotorConfig {
+                p_min: -12.5,
+                p_max: 12.5,
+                v_min: -33.0,
+                v_max: 33.0,
+                kp_min: 0.0,
+                kp_max: 500.0,
+                kd_min: 0.0,
+                kd_max: 5.0,
+                t_min: -14.0,
+                t_max: 14.0,
+                zero_on_init: false,
+                can_timeout_command: 0x200b, // Unchecked
+                can_timeout_factor: 12000.0, // Unchecked
+            },
+        );
         m.insert(
             MotorType::Type01,
             MotorConfig {
@@ -64,7 +82,6 @@ lazy_static! {
                 can_timeout_factor: 12000.0,
             },
         );
-        // This is probably not correct, the Type02 is not released yet.
         m.insert(
             MotorType::Type02,
             MotorConfig {
@@ -79,8 +96,8 @@ lazy_static! {
                 t_min: -12.0,
                 t_max: 12.0,
                 zero_on_init: false,
-                can_timeout_command: 0x200b,
-                can_timeout_factor: 12000.0,
+                can_timeout_command: 0x200b, // Unchecked
+                can_timeout_factor: 12000.0, // Unchecked
             },
         );
         m.insert(
@@ -387,6 +404,7 @@ fn unpack_raw_feedback(pack: &CanPack) -> MotorFeedbackRaw {
 
 #[derive(Debug, Clone, Copy, PartialEq, Eq, Hash)]
 pub enum MotorType {
+    Type00,
     Type01,
     Type02,
     Type03,
@@ -408,6 +426,7 @@ pub fn motor_mode_from_str(s: &str) -> Result<MotorMode, std::io::Error> {
 
 pub fn motor_type_from_str(s: &str) -> Result<MotorType, std::io::Error> {
     match s {
+        "00" => Ok(MotorType::Type00),
         "01" => Ok(MotorType::Type01),
         "02" => Ok(MotorType::Type02),
         "03" => Ok(MotorType::Type03),