cubemarsPyCAN

Correct, tested CAN control for CubeMars AK-series actuators, in MIT and servo modes.

Every constant is traceable to the AK Series Module Driver Manual v1.0.18, a CubeMars datasheet, or a bench measurement. See Sourced.

from cubemarspycan import SPECS, CanTransport, MitMotor, MotorBus

with CanTransport.open("socketcan:can0") as tp, MotorBus(tp) as bus:
    m = MitMotor(bus, motor_id=1, spec=SPECS["AK40-10"], supply_voltage=24.0)
    with m.control():
        m.zero_here()
        m.settle(1.5)
        state = m.update(position=0.5, velocity=0.0, kp=20.0, kd=0.5, torque=0.0)

Guides

API reference

Indices