can_motor_control¶

Rust control library for Damiao-family CAN motors, with first-class Python bindings.

The Python package can_motor_control is a thin PyO3 layer over a Rust core, so it installs as a single wheel and runs in realtime control loops without GIL contention.

Where to go¶

SocketCAN setup — bring up a Linux CAN interface for the first time.
CAN-FD — notes on classical CAN vs CAN-FD.
Multi-vendor — how the vendor-agnostic codec seam works.
Python API — the full can_motor_control reference.
Rust API — pointer to the rustdoc for the Rust crates.

Quick taste¶

import numpy as np
from can_motor_control import Robot

# Connect + enable on entry, disable on exit.
with Robot.from_config("configs/single_arm.toml") as robot:
    arm = robot["arm"]
    for _ in range(1000):
        # One row [kp, kd, q, dq, tau] per motor.
        cmds = np.zeros((len(arm), 5))
        arm.mit_control(cmds)
        robot.tick(per_bus_deadline_us=2000)
        print(arm.positions())

Status¶

v0.1.0 (in development) — walking-skeleton scope: a single arm end-to-end over Linux SocketCAN. The architecture accommodates future vendors (Robostride, MyActuator, CubeMars) and CAN-FD; only Damiao on classical CAN ships in v1.

Linux only in v1 (SocketCAN is a Linux kernel feature). The codec crates compile cross-platform; other platforms can run against MockCanBus.