Merge branch 'master' into key-control

Makefile

@@ -1,47 +1,14 @@
 # Makefile
 
-define HELP_MESSAGE
-actuator
-
-# Installing
-
-1. Create a new Conda environment: `conda create --name actuator python=3.11`
-2. Activate the environment: `conda activate actuator`
-3. Install the package: `make install-dev`
-
-# Running Tests
-
-1. Run autoformatting: `make format`
-2. Run static checks: `make static-checks`
-3. Run unit tests: `make test`
-
-endef
-export HELP_MESSAGE
-
-all:
-	@echo "$$HELP_MESSAGE"
-.PHONY: all
-
 # ------------------------ #
 #          Build           #
 # ------------------------ #
 
-install-and-run:
+install:
+	cargo run --bin stub_gen
+	@touch setup.py
 	@uv pip install -e '.[dev]'
-	@python -m actuator.cli
-.PHONY: install-and-run
-
-build-rust:
-	@RUST_BACKTRACE=1 cargo build -p lib
-.PHONY: build-rust
-
-build-stubs:
-	@RUST_BACKTRACE=1 cargo run --bin stub_gen -p lib --verbose
-.PHONY: build-stubs
-
-clean:
-	rm -rf build dist *.so **/*.so **/*.pyi **/*.pyc **/*.pyd **/*.pyo **/__pycache__ *.egg-info .eggs/ .ruff_cache/
-.PHONY: clean
+.PHONY: build
 
 # ------------------------ #
 #       Static Checks      #

README.md

@@ -2,68 +2,8 @@
 
 Defines a package to make it easy and performant to control actuators.
 
-![System Architecture](https://github.com/user-attachments/assets/b10f82df-854f-4252-ba4e-e1f77419767a)
+![System Architecture](./docs/architecture.png)
 
 ## Getting Started
 
-### Install Build Dependencies
-
-#### Ubuntu
-
-```bash
-sudo apt install pkg-config libudev-dev
-```
-
-### Install the Package
-
-```bash
-pip install actuator
-```
-
-Alternatively, to install the bleeding edge version from Github:
-
-```bash
-pip install 'actuator @ git+https://github.com/kscalelabs/actuator.git@master'
-```
-
-### Motor-Specific Examples
-
-#### Robstride
-
-The following example can be used to move a Robstride motor in a sinusoidal pattern.
-
-```bash
-python -m actuator.examples.sinusoidal_movement
-```
-
-Note that there are some additional steps needed before the Robstride USB controller will work on Linux:
-
-1. Install [this driver](https://github.com/WCHSoftGroup/ch341ser_linux) for the CH341 USB controller.
-2. This should create a `/dev/ttyUSB0` or `/dev/ttyCH341USB0` device - you should check which one by doing `ls /dev/tty*`.
-You might need to the change the permissions:
-
-```bash
-sudo chmod 666 /dev/ttyCH341USB0
-```
-
-3. Run the following command to configure the baud rate of the controller:
-
-```bash
-sudo stty -F /dev/ttyUSB0 921600
-```
-
-4. Alternatively, you can add the following line to your `/etc/udev/rules.d/51-ch340.rules` file to automatically configure the baud rate:
-```bash
-KERNEL=="ttyCH341USB[0-9]", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="7523", SYMLINK+="ttyUSB%n", RUN+="/bin/stty -F /dev/ttyCH341USB0 921600"
-KERNEL=="ttyUSB[0-9]", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="7523", RUN+="/bin/stty -F /dev/ttyUSB0 921600"
-```
-
-5. After adding the above rule, you should run `sudo udevadm control --reload-rules` to reload the rules.
-
-
-## Supported Actuators
-
-- [Robstride](https://robstride.com/)
-
-ATTRS{idVendor}=="1a86"
-ATTRS{idProduct}=="7523"
+See the documentation [here](https://docs.kscale.dev/software/actuators/overview) for instructions on getting started with this package.

actuator/__init__.py

@@ -1,6 +1,9 @@
-__version__ = "0.0.10"
+"""Defines the top-level API for the actuator package."""
+
+__version__ = "0.0.19"
 
 from .rust.bindings import (
+    PyRobstrideMotorControlParams as RobstrideMotorControlParams,
     PyRobstrideMotorFeedback as RobstrideMotorFeedback,
     PyRobstrideMotors as RobstrideMotors,
     PyRobstrideMotorsSupervisor as RobstrideMotorsSupervisor,

actuator/rust/bindings/bindings.pyi

@@ -3,6 +3,17 @@
 
 import typing
 
+class PyRobstrideMotorControlParams:
+    position: float
+    velocity: float
+    kp: float
+    kd: float
+    torque: float
+    def __new__(cls,position:float, velocity:float, kp:float, kd:float, torque:float): ...
+    def __repr__(self) -> str:
+        ...
+
+
 class PyRobstrideMotorFeedback:
     can_id: int
     position: float
@@ -15,41 +26,59 @@ class PyRobstrideMotorFeedback:
 
 
 class PyRobstrideMotors:
-    def __new__(cls,port_name:str, motor_infos:typing.Mapping[int, str]): ...
+    def __new__(cls,port_name,motor_infos,verbose = ...): ...
     def send_get_mode(self) -> dict[int, str]:
         ...
 
-    def send_set_zero(self, motor_ids:typing.Optional[typing.Sequence[int]]) -> dict[int, PyRobstrideMotorFeedback]:
+    def send_set_zero(self, motor_ids:typing.Optional[typing.Sequence[int]]) -> None:
         ...
 
-    def send_reset(self) -> dict[int, PyRobstrideMotorFeedback]:
+    def send_resets(self) -> None:
         ...
 
-    def send_start(self) -> dict[int, PyRobstrideMotorFeedback]:
+    def send_starts(self) -> None:
         ...
 
-    def send_torque_controls(self, torque_sets:typing.Mapping[int, float]) -> dict[int, PyRobstrideMotorFeedback]:
+    def send_motor_controls(self, motor_controls:typing.Mapping[int, PyRobstrideMotorControlParams], serial:bool) -> dict[int, PyRobstrideMotorFeedback]:
         ...
 
-    def get_latest_feedback(self) -> dict[int, PyRobstrideMotorFeedback]:
+    def __repr__(self) -> str:
         ...
 
-    def get_latest_feedback_for(self, motor_id:int) -> PyRobstrideMotorFeedback:
+
+class PyRobstrideMotorsSupervisor:
+    total_commands: int
+    actual_update_rate: float
+    serial: bool
+    def __new__(cls,port_name,motor_infos,verbose = ...,target_update_rate = ...,can_timeout = ...): ...
+    def set_position(self, motor_id:int, position:float) -> float:
         ...
 
-    def __repr__(self) -> str:
+    def get_position(self, motor_id:int) -> float:
         ...
 
+    def set_velocity(self, motor_id:int, velocity:float) -> float:
+        ...
 
-class PyRobstrideMotorsSupervisor:
-    def __new__(cls,port_name:str, motor_infos:typing.Mapping[int, str]): ...
-    def set_target_position(self, motor_id:int, position:float) -> None:
+    def get_velocity(self, motor_id:int) -> float:
+        ...
+
+    def set_kp(self, motor_id:int, kp:float) -> float:
+        ...
+
+    def get_kp(self, motor_id:int) -> float:
         ...
 
-    def set_kp_kd(self, motor_id:int, kp:float, kd:float) -> None:
+    def set_kd(self, motor_id:int, kd:float) -> float:
         ...
 
-    def set_sleep_duration(self, sleep_duration:float) -> None:
+    def get_kd(self, motor_id:int) -> float:
+        ...
+
+    def set_torque(self, motor_id:int, torque:float) -> float:
+        ...
+
+    def get_torque(self, motor_id:int) -> float:
         ...
 
     def add_motor_to_zero(self, motor_id:int) -> None:
@@ -58,10 +87,31 @@ class PyRobstrideMotorsSupervisor:
     def get_latest_feedback(self) -> dict[int, PyRobstrideMotorFeedback]:
         ...
 
+    def toggle_pause(self) -> None:
+        ...
+
     def stop(self) -> None:
         ...
 
     def __repr__(self) -> str:
         ...
 
+    def set_params(self, motor_id:int, params:PyRobstrideMotorControlParams) -> None:
+        ...
+
+    def failed_commands_for(self, motor_id:int) -> int:
+        ...
+
+    def reset_command_counters(self) -> None:
+        ...
+
+    def is_running(self) -> bool:
+        ...
+
+    def max_update_rate(self, rate:float) -> None:
+        ...
+
+    def toggle_serial(self) -> bool:
+        ...
+