Quick start (from old Python code)

Setup Workspace

For Python (not used in latest revision):

• Create a python virtual environment, install all dependencies in requirements.txt
• Copy the fdcanusb udev rule (for linux users) where it belongs (read the comments in the file linked below)
  • https://github.com/mjbots/fdcanusb/blob/master/70-fdcanusb.rules
• https://github.com/mjbots/moteus/blob/main/docs/getting_started.md

Notes

• position range is -1 to 1 revolutions by default
• to load stored config run conf load in tview gui
• if things are funky try conf load a few times
• need to figure out how to conf load from a python script
• moteus console: python3 -m moteus_gui.tview
• calibrate: python3 -m moteus.moteus_tool --target 1 --calibrate

To Reset Configs

• to load default config in tview gui write conf default then conf write
• to get correct configs copy

conf set servo.pid_position.kp 100
conf set servo.pid_position.ki 1
conf set servo.pid_position.kd 10
conf set servopos.position_min nan
conf set servopos.position_max nan
conf set motor_position.rotor_to_output_ratio 0.0526315789
conf set servo.max_velocity 10.0
conf set servo.default_velocity_limit 8.0
conf set servo.default_accel_limit 20.0

into tview gui then run conf write

Known Working Steps

1. conf defaut in tview
2. calibrate python3 -m moteus.moteus_tool --target 1 --calibrate in terminal
3. zero offset python3 -m moteus.moteus_tool --target 1 --zero-offset
4. apply config in tview

conf set servo.pid_position.kp 100
conf set servo.pid_position.ki 1
conf set servo.pid_position.kd 10
conf set servopos.position_min nan
conf set servopos.position_max nan
conf set motor_position.rotor_to_output_ratio 0.0526315789
conf set servo.max_velocity 10.0
conf set servo.default_velocity_limit 8.0
conf set servo.default_accel_limit 20.0

5. conf write in tview
6. conf load in tview
7. d pos nan 1 nan in tview

Known Working Steps Python Script

Assuming the motor controller has the configuration stored on it from the above section (run again if not)

If fault code is 36, the motor needs to be calibrated with the moteus tool. Run python3 -m moteus.moteus_tool --target 1 --calibrate in your terminal, THIS WILL SPIN THE MOTOR A LOT

If something stops working, unplug and replug

1. run test.py