Welcome to TMotorCANControl’s documentation!
The project is geared towards the control of the AK80-9 actuator using a raspberry pi CAN hat or serial bus, but could eaisly be adapted for use with a different CAN/serial interface.
It can be download from PyPi with the command “pip install TMotorCANControl”.
The API files are on GitHub, in the src/TMotorCANControl folder. The main interface is in the file TMotorManager_mit_can.py for MIT mode, TMotorManager_servo_can.py for Servo mode (over CAN), and TMotorManager_servo_serial for Servo mode (over serial). Sample scripts can be found in the demos folder. For help setting up the motor using a Raspberry Pi 4 and with the PiCAN hat, see these instructions on the Open Source Leg website. That page will walk you through all the setup.