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169 lines (169 loc) · 5.9 KB
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{
"schema": 1,
"package": "motorbridge",
"version": "0.4.9",
"purpose": "Canonical API surface used to keep ABI, Python, C++ and docs aligned.",
"abi": {
"metadata": [
"motor_last_error_message",
"motor_abi_version",
"motor_abi_capabilities_json"
],
"controller": [
"motor_controller_new_socketcan",
"motor_controller_new_socketcanfd",
"motor_controller_new_dm_serial",
"motor_controller_new_dm_device",
"motor_controller_free",
"motor_controller_poll_feedback_once",
"motor_controller_enable_all",
"motor_controller_disable_all",
"motor_controller_shutdown",
"motor_controller_close_bus",
"motor_controller_add_damiao_motor",
"motor_controller_add_hexfellow_motor",
"motor_controller_add_myactuator_motor",
"motor_controller_add_robstride_motor",
"motor_controller_add_hightorque_motor"
],
"motor_lifecycle": [
"motor_handle_free",
"motor_handle_enable",
"motor_handle_disable",
"motor_handle_clear_error",
"motor_handle_set_zero_position",
"motor_handle_ensure_mode"
],
"motor_control": [
"motor_handle_send_mit",
"motor_handle_send_pos_vel",
"motor_handle_robstride_send_pos_vel_pp",
"motor_handle_robstride_send_pos_vel_csp",
"motor_handle_send_vel",
"motor_handle_send_force_pos"
],
"state_and_feedback": [
"motor_handle_request_feedback",
"motor_handle_get_state",
"motor_handle_set_can_timeout_ms",
"motor_handle_store_parameters"
],
"damiao": [
"motor_handle_write_register_f32",
"motor_handle_write_register_u32",
"motor_handle_get_register_f32",
"motor_handle_get_register_u32",
"motor_handle_damiao_get_param_f32",
"motor_handle_damiao_get_param_u32",
"motor_handle_damiao_write_param_f32",
"motor_handle_damiao_write_param_u32"
],
"robstride": [
"motor_handle_robstride_ping",
"motor_handle_robstride_ping_host_id",
"motor_handle_robstride_get_param_f32_host_id",
"motor_handle_robstride_get_fault_report",
"motor_handle_robstride_set_device_id",
"motor_handle_robstride_set_active_report",
"motor_handle_robstride_write_param_i8",
"motor_handle_robstride_write_param_u8",
"motor_handle_robstride_write_param_u16",
"motor_handle_robstride_write_param_u32",
"motor_handle_robstride_write_param_f32",
"motor_handle_robstride_get_param_i8",
"motor_handle_robstride_get_param_u8",
"motor_handle_robstride_get_param_u16",
"motor_handle_robstride_get_param_u32",
"motor_handle_robstride_get_param_f32"
]
},
"bindings": {
"controller_methods": [
"Controller(channel)",
"Controller.from_socketcanfd(channel)",
"Controller.from_dm_serial(serial_port, baud)",
"Controller.from_dm_device(dm_device_type, dm_channel)",
"Controller.close()",
"Controller.shutdown()",
"Controller.close_bus()",
"Controller.enable_all()",
"Controller.disable_all()",
"Controller.poll_feedback_once()",
"Controller.add_damiao_motor(motor_id, feedback_id, model)",
"Controller.add_hexfellow_motor(motor_id, feedback_id, model)",
"Controller.add_myactuator_motor(motor_id, feedback_id, model)",
"Controller.add_robstride_motor(motor_id, feedback_id, model)",
"Controller.add_hightorque_motor(motor_id, feedback_id, model)"
],
"motor_methods": [
"Motor.close()",
"Motor.enable()",
"Motor.disable()",
"Motor.clear_error()",
"Motor.set_zero_position()",
"Motor.ensure_mode(mode, timeout_ms)",
"Motor.send_mit(pos, vel, kp, kd, tau)",
"Motor.send_pos_vel(pos, vlim)",
"Motor.robstride_send_pos_vel_pp(pos, vel_max, acc_set)",
"Motor.robstride_send_pos_vel_csp(pos, vlim)",
"Motor.send_vel(vel)",
"Motor.send_force_pos(pos, vlim, ratio)",
"Motor.request_feedback()",
"Motor.set_can_timeout_ms(timeout_ms)",
"Motor.store_parameters()",
"Motor.write_register_f32(rid, value)",
"Motor.write_register_u32(rid, value)",
"Motor.get_register_f32(rid, timeout_ms)",
"Motor.get_register_u32(rid, timeout_ms)",
"Motor.robstride_ping()",
"Motor.robstride_ping_host_id(host_id, timeout_ms)",
"Motor.robstride_get_param_f32_host_id(param_id, host_id, timeout_ms)",
"Motor.robstride_get_fault_report()",
"Motor.robstride_set_device_id(new_device_id)",
"Motor.robstride_set_active_report(enabled)",
"Motor.robstride_write_param_i8(param_id, value)",
"Motor.robstride_write_param_u8(param_id, value)",
"Motor.robstride_write_param_u16(param_id, value)",
"Motor.robstride_write_param_u32(param_id, value)",
"Motor.robstride_write_param_f32(param_id, value)",
"Motor.robstride_get_param_i8(param_id, timeout_ms)",
"Motor.robstride_get_param_u8(param_id, timeout_ms)",
"Motor.robstride_get_param_u16(param_id, timeout_ms)",
"Motor.robstride_get_param_u32(param_id, timeout_ms)",
"Motor.robstride_get_param_f32(param_id, timeout_ms)",
"Motor.damiao_get_param_f32(param_id, timeout_ms)",
"Motor.damiao_get_param_u32(param_id, timeout_ms)",
"Motor.damiao_write_param_f32(param_id, value)",
"Motor.damiao_write_param_u32(param_id, value)",
"Motor.get_state()"
],
"python": {
"module_metadata": [
"motorbridge.get_version()",
"motorbridge.abi_version()",
"motorbridge.abi_capabilities()"
],
"status": "aligned"
},
"cpp": {
"namespace_metadata": [
"motorbridge::abi_version()",
"motorbridge::abi_capabilities_json()"
],
"status": "aligned"
}
},
"transports": [
"socketcan",
"socketcanfd",
"dm-serial",
"dm-device"
],
"vendors": [
"damiao",
"robstride",
"myactuator",
"hexfellow",
"hightorque"
]
}