Mode 与 State

from motorbridge import Mode

class Mode(IntEnum):
    MIT = 1
    POS_VEL = 2
    VEL = 3
    FORCE_POS = 4

motor.ensure_mode(Mode.MIT, 1000)
motor.send_mit(
    pos=1.0,    # 目标位置（rad）
    vel=0.0,    # 目标速度（rad/s）
    kp=30.0,    # 位置刚度（Nm/rad）
    kd=1.0,     # 速度阻尼（Nm·s/rad）
    tau=0.0     # 前馈力矩（Nm）
)

motor.ensure_mode(Mode.POS_VEL, 1000)
motor.send_pos_vel(pos=2.0, vlim=1.5)

motor.ensure_mode(Mode.VEL, 1000)
motor.send_vel(vel=2.0)  # 2 rad/s

# 停止电机
motor.send_vel(vel=0.0)

motor.ensure_mode(Mode.FORCE_POS, 1000)
motor.send_force_pos(pos=1.0, vlim=1.0, ratio=0.3)

from motorbridge import MotorState

@dataclass(frozen=True)
class MotorState:
    can_id: int
    arbitration_id: int
    status_code: int
    pos: float
    vel: float
    torq: float
    t_mos: float
    t_rotor: float

from motorbridge import Controller, Mode

with Controller("can0") as ctrl:
    motor = ctrl.add_damiao_motor(0x01, 0x11, "4340P")
    ctrl.enable_all()

    # 请求反馈
    motor.request_feedback()

    # 获取状态（如果尚无反馈可能为 None）
    state = motor.get_state()

    if state is not None:
        # 访问字段
        print(f"位置: {state.pos:.3f} rad")
        print(f"速度: {state.vel:.3f} rad/s")
        print(f"力矩: {state.torq:.3f} Nm")
        print(f"MOS 温度: {state.t_mos:.1f} °C")
        print(f"转子温度: {state.t_rotor:.1f} °C")
        print(f"状态: 0x{state.status_code:02X}")

        # 检查温度警告
        if state.t_mos > 80.0 or state.t_rotor > 80.0:
            print("警告：高温！")
    else:
        print("未收到反馈")

motor.request_feedback()
state = motor.get_state()
if state is not None:
    # status_code 是规范的机器可读状态值
    print(state.status_code, state.pos, state.vel)

import time

def get_state_with_retry(motor, max_attempts=10, delay=0.05):
    """带重试的状态获取。"""
    for _ in range(max_attempts):
        motor.request_feedback()
        state = motor.get_state()
        if state is not None:
            return state
        time.sleep(delay)
    return None

# 用法
state = get_state_with_retry(motor)
if state:
    print(f"获取状态: pos={state.pos:.3f}")
else:
    print("重试后未能获取状态")