故障排除

# 太快了
dt_s = 0.005  # 200Hz - 可能溢出

# 更安全
dt_s = 0.02   # 50Hz - 通常稳定
dt_s = 0.03   # 33Hz - 保守

sudo ifconfig can0 txqueuelen 1000

# 检查其他使用 CAN 的进程
lsof | grep can0

# 不好：每次迭代都请求
for i in range(1000):
    motor.request_feedback()  # 每次都请求
    motor.send_mit(...)

# 好：每 N 次请求一次
for i in range(1000):
    if i % 5 == 0:
        motor.request_feedback()
    motor.send_mit(...)

# 加载 CAN 内核模块
sudo modprobe can
sudo modprobe can_raw
sudo modprobe can_dev

# 配置接口
sudo ip link set can0 type can bitrate 1000000
sudo ip link set can0 up

# 验证
ip link show can0

2: can0: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UP mode DEFAULT group default qlen 1000
    link/can

# 将用户加入 dialout 组
sudo usermod -a -G dialout $USER

# 注销并重新登录使更改生效

sudo chmod 666 /dev/ttyACM0

import time

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

# 使用
state = get_state_with_retry(motor)
if state:
    print(f"位置: {state.pos}")
else:
    print("重试后仍无反馈")

motorbridge-cli scan --vendor damiao --start-id 1 --end-id 32

state = motor.get_state()
if state:
    print(f"状态码: 0x{state.status_code:02X}")

motor.clear_error()
time.sleep(0.1)
motor.ensure_mode(Mode.MIT, 1000)

motor.ensure_mode(Mode.MIT, timeout_ms=2000)

# 1. 电机是否使能？
ctrl.enable_all()

# 2. 模式是否正确？
motor.ensure_mode(Mode.MIT, 1000)

# 3. 命令是否在发送？
motor.send_mit(0.5, 0.0, 30.0, 1.0, 0.0)

# 4. 检查状态
motor.request_feedback()
state = motor.get_state()
if state:
    print(f"状态码: 0x{state.status_code:02X}")
    print(f"位置: {state.pos:.3f}")

def handle_motor_error(motor, status_code):
    """根据状态码处理电机错误"""
    if status_code == 0:
        return True  # 正常

    print(f"电机错误: 0x{status_code:02X}")

    if status_code in (1, 2):  # 电压错误
        print("检查电源电压")
        return False

    if status_code in (3, 4, 5):  # 电流/温度
        print("减小负载并等待冷却")
        motor.disable()
        return False

    if status_code == 6:  # 超时
        print("检查 CAN 接线")
        motor.clear_error()
        motor.enable()
        return True

    return False

# 使用
motor.request_feedback()
state = motor.get_state()
if state and not handle_motor_error(motor, state.status_code):
    print("需要人工干预")

# 重新安装
pip install --upgrade --force-reinstall motorbridge

# 验证安装
python3 -c "import motorbridge; print('OK')"

# 检查 ABI 库（源码构建需要）
ls -la /path/to/motorbridge/lib/libmotor_abi.so
export LD_LIBRARY_PATH=/path/to/lib:$LD_LIBRARY_PATH

# 查找库
find /usr -name "libmotor_abi.so" 2>/dev/null

# 设置库路径
export LD_LIBRARY_PATH=/path/to/lib:$LD_LIBRARY_PATH

# 或从 wheel 安装（包含库）
pip install motorbridge

# 不好
while True:
    motor.send_mit(...)
    # 无休眠 - 100% CPU

# 好
while True:
    motor.send_mit(...)
    time.sleep(0.02)  # 50Hz

# 不好（当前版本）
while True:
    ctrl.poll_feedback_once()  # 不需要

# 好（当前版本）
while True:
    motor.request_feedback()
    state = motor.get_state()

import time

DT_S = 0.02
next_time = time.time()

for i in range(100):
    # 工作
    motor.send_mit(...)
    motor.request_feedback()

    # 休眠到下一周期
    next_time += DT_S
    sleep_time = next_time - time.time()
    if sleep_time > 0:
        time.sleep(sleep_time)
    else:
        print(f"超时: {-sleep_time*1000:.1f}ms")
        next_time = time.time()  # 重置定时

import logging

# 启用调试日志
logging.basicConfig(level=logging.DEBUG)

# 监控 CAN 总线
candump can0

# 发送测试帧
cansend can0 001#0102030405060708

# 扫描电机
motorbridge-cli scan --vendor all --channel can0

# 测试单个电机
motorbridge-cli run --vendor damiao --motor-id 0x01 --mode enable --loop 1

# 转储寄存器
motorbridge-cli id-dump --motor-id 0x01 --rids 7,8,9,10

# 最小测试用例
from motorbridge import Controller

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

    # 测试使能
    try:
        motor.enable()
        print("使能: OK")
    except Exception as e:
        print(f"使能: 失败 - {e}")

    # 测试反馈
    motor.request_feedback()
    state = motor.get_state()
    print(f"反馈: {'OK' if state else '失败'}")

    # 测试命令
    try:
        motor.send_mit(0.0, 0.0, 10.0, 1.0, 0.0)
        print("命令: OK")
    except Exception as e:
        print(f"命令: 失败 - {e}")

# 系统信息
uname -a
python3 --version
pip show motorbridge

# CAN 状态
ip link show can0