09 Multi-Motor Single Query

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Goal

• Same-vendor multi-motor: multiple motor handles under one Controller, query state in one pass.
• Multi-vendor mixed: multiple Controllers in parallel, query state in one pass.

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Run

python3 bindings/python/get_started/courses/09-multi-motor.py

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Notes

• Damiao uses a DAMIAO_MOTORS list; add as many as you need.
• MyActuator uses USE_MYACTUATOR + MYACTUATOR_MOTORS.
• RobStride uses USE_ROBSTRIDE + ROBSTRIDE_MOTORS.
• The unified call is request_feedback() + poll_feedback_once() + get_state() (compat form).
• RETRY_ENABLED=True: enables query retry, which greatly reduces None.
• MAX_RETRIES / RETRY_DT_MS: control retry count and interval.

• <= v0.1.6: keep poll_feedback_once().
• v0.1.7+: background polling is on by default; manual poll_feedback_once() is usually optional.

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How to add more Damiao motors

{"name": "dm3", "id": 0x01, "fid": 0x11, "model": "4340P"},

• probe=0x01 -> mst_id=0x11
• probe=0x04 -> mst_id=0x14
• probe=0x07 -> mst_id=0x17

DAMIAO_MOTORS = [
    {"name": "dm1", "id": 0x01, "fid": 0x11, "model": "4340P"},
    {"name": "dm2", "id": 0x04, "fid": 0x14, "model": "4310"},
    {"name": "dm3", "id": 0x07, "fid": 0x17, "model": "4310"},
]

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How to remove a motor or brand

• Remove a motor: delete its row from the list.
• Disable a brand: set USE_MYACTUATOR or USE_ROBSTRIDE to False.

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How to add a brand-new vendor (code level)

1. Add that vendor’s config list and switch.
2. Add attach_xxx(ctrl, cfgs) that calls ctrl.add_xxx_motor(...) internally.
3. In main(), create that vendor’s controller and run:
   • ctrl.enable_all()
   • states = query_states_with_retry(ctrl, motors)
   • append_states(out, names, states)

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RobStride: scan then fill (recommended)

python3 bindings/python/get_started/courses/01-scan.py