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lerobot/common/robot_devices/motors/hiwonder.py Normal file
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import traceback
import numpy as np
import serial
from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
BAUDRATE = 115_200
TIMEOUT_S = 1
COMMAND_HEADER = [0x55, 0x55] # Header for all commands sent to Hiwonder motors
BYTE_MASK = 0xFF
# https://drive.google.com/file/d/1DQGBBng8UFziv5hg15qmyvakItG3w6Ss/view?usp=sharing
# data_name: (command, length)
HIWONDER_CONTROL_TABLE = {
"SERVO_MOVE_TIME_WRITE": (0x01, 0x07),
"SERVO_MOVE_TIME_READ": (0x02, 0x03),
"SERVO_MOVE_TIME_WAIT_WRITE": (0x07, 0x07),
"SERVO_MOVE_TIME_WAIT_READ": (0x08, 0x03),
"SERVO_MOVE_START": (0x0B, 0x03),
"SERVO_MOVE_STOP": (0x0C, 0x03),
"SERVO_ID_WRITE": (0x0D, 0x04),
"SERVO_ID_READ": (0x0E, 0x03),
"SERVO_ANGLE_OFFSET_ADJUST": (0x11, 0x04),
"SERVO_ANGLE_OFFSET_WRITE": (0x12, 0x03),
"SERVO_ANGLE_OFFSET_READ": (0x13, 0x03),
"SERVO_ANGLE_LIMIT_WRITE": (0x14, 0x07),
"SERVO_ANGLE_LIMIT_READ": (0x15, 0x03),
"SERVO_VIN_LIMIT_WRITE": (0x16, 0x07),
"SERVO_VIN_LIMIT_READ": (0x17, 0x03),
"SERVO_TEMP_MAX_LIMIT_WRITE": (0x18, 0x04),
"SERVO_TEMP_MAX_LIMIT_READ": (0x19, 0x03),
"SERVO_TEMP_READ": (0x1A, 0x03),
"SERVO_VIN_READ": (0x1B, 0x03),
"SERVO_POS_READ": (0x1C, 0x03),
"SERVO_OR_MOTOR_MODE_WRITE": (0x1D, 0x07),
"SERVO_OR_MOTOR_MODE_READ": (0x1E, 0x03),
"SERVO_LOAD_OR_UNLOAD_WRITE": (0x1F, 0x04),
"SERVO_LOAD_OR_UNLOAD_READ": (0x20, 0x03),
"SERVO_LED_CTRL_WRITE": (0x21, 0x04),
"SERVO_LED_CTRL_READ": (0x22, 0x03),
"SERVO_LED_ERROR_WRITE": (0x23, 0x04),
"SERVO_LED_ERROR_READ": (0x24, 0x03),
}
def calculate_checksum(data):
"""Calculate the checksum for the given data."""
checksum = ~(sum(data)) & BYTE_MASK
return checksum
def low_byte(value):
"""Extract the low byte of a 16-bit integer."""
return value & BYTE_MASK
def high_byte(value):
"""Extract the high byte of a 16-bit integer."""
return (value >> 8) & BYTE_MASK
class HiwonderMotorsBus:
"""
The HiwonderMotorBus class allows to efficiently read and write to the attached motors. It relies on
the [Hiwonder Bus Communication Protoco](https://drive.google.com/file/d/1JKyt_OUg9V6cIBC-SiX6IIAACsvz86aB/view?usp=sharing).
A HiwonderMotorBus instance requires a port (e.g. `HiwonderMotorBus(port="/dev/tty.usbmodem575E0031751"`)).
Example of usage for 1 motor connected to the bus:
```python
motor_name = "gripper"
motor_index = 6
motor_model = "lx-16a"
motors_bus = HiwonderMotorBus(
port="/dev/tty.usbmodem575E0031751",
motors={motor_name: (motor_index, motor_model)},
)
motors_bus.connect()
position = motors_bus.read()
# move from a few motor steps as an example
few_steps = 30
motors_bus.write(position + few_steps)
# when done, consider disconnecting
motors_bus.disconnect()
```
"""
def __init__(self, port: str, motors: dict[str, tuple[int, str]]):
self.port = port
self.serial = None
self.is_connected = False
self.motors = motors
def connect(self):
"""Open the serial port and establish a connection."""
if self.is_connected:
raise RobotDeviceAlreadyConnectedError(
f"HiwonderMotorsBus({self.port}) is already connected. Do not call `motors_bus.connect()` twice."
)
try:
self.serial = serial.Serial(self.port, baudrate=BAUDRATE, timeout=TIMEOUT_S)
self.is_connected = True
print("Connection established")
except Exception:
traceback.print_exc()
print("\nCould not open port.\n")
raise
def disconnect(self):
"""Close the serial port connection."""
if self.serial:
self.serial.close()
self.is_connected = False
print("Connection closed")
@property
def motor_names(self) -> list[str]:
return list(self.motors.keys())
def write(self, values: int | float | np.ndarray, motor_names: str | list[str] | None = None):
if not self.is_connected:
raise RobotDeviceAlreadyConnectedError(f"HiwonderMotorsBus({self.port}) is not connected.")
if motor_names is None:
motor_names = self.motor_names
if isinstance(motor_names, str):
motor_names = [motor_names]
if isinstance(values, (int, float)):
values = [values] * len(
motor_names
) # Replicate value for each motor if a single value is provided
motor_commands = zip(motor_names, values, strict=False)
for motor_name, value in motor_commands:
motor_id, _ = self.motors[motor_name] # Using only the ID for the command
duration = 0 # Get to the next position as soon as possible
# Command structure: 55 55 ID LEN CMD P1 P2 P3 P4 CHK
# Retrieve command and length from the control table
cmd, length = HIWONDER_CONTROL_TABLE["SERVO_MOVE_TIME_WRITE"]
# Prepare the packet
data = [
motor_id,
length,
cmd,
low_byte(value),
high_byte(value),
low_byte(duration),
high_byte(duration),
]
checksum = calculate_checksum(data)
command = COMMAND_HEADER + data + [checksum]
self.serial.write(bytearray(command))
def read(self, motor_names: str | list[str] | None = None):
"""Send a command to read the current position of the motors."""
if not self.is_connected:
raise RobotDeviceNotConnectedError(
f"HiwonderMotorsBus({self.port}) is not connected. You need to run `motors_bus.connect()`."
)
if motor_names is None:
motor_names = self.motor_names
if isinstance(motor_names, str):
motor_names = [motor_names]
motor_ids = [self.motors[name][0] for name in motor_names] # Extract motor IDs based on names
positions = {}
for motor_name, motor_id in zip(motor_names, motor_ids, strict=False):
# Command structure for reading position: 55 55 ID LEN CMD CHK
# Retrieve command and length from the control table
cmd, length = HIWONDER_CONTROL_TABLE["SERVO_POS_READ"]
# Prepare the command packet
data = [motor_id, length, cmd]
checksum = calculate_checksum(data)
command = COMMAND_HEADER + data + [checksum]
# Send the command
self.serial.write(bytearray(command))
# Wait for response and handle it
try:
response = self.serial.read(8) # Adjust size based on expected response
if len(response) == 8:
header1, header2, resp_id, resp_len, resp_cmd, param1, param2, resp_chk = response
# Calculate expected checksum and compare
expected_checksum = calculate_checksum(response[2:-1])
if resp_chk == expected_checksum:
# Combine param1 and param2 to form the actual position
position = param1 + (param2 << 8)
positions[motor_name] = position # Store position with motor ID as the key
else:
print(f"Checksum mismatch for motor {motor_id}.")
else:
print(f"No response or invalid response for motor {motor_id}.")
except Exception as e:
print(f"Failed to read position for motor {motor_id}: {str(e)}")
return positions
# Example usage
if __name__ == "__main__":
pass