Extend MKS servo module: auto-configure bus mode, status property, set_bitrate#199
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Extend MKS servo module: auto-configure bus mode, status property, set_bitrate#199
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Constructor now sends SR_vFOC (0x05) so 0xF5/0xF6 bus motion commands work out of the box. Adds named MODE_* constants to replace the 0x05 magic number, plus a Lizard-readable "status" property that reports a non-zero STATUS_SET_MODE_FAILED code when the 0x82 response reports a failure. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Exposes the CAN 0x8A command as a Lizard method accepting a
human-readable rate string ("125K", "250K", "500K", "1M",
case-insensitive). Named BITRATE_* constants in the header
replace raw enum codes at the call site.
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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Motivation
Make the
MksServoMotormodule usable on a multi-drop CAN bus without manual configuration, and expose enough status/control to diagnose and reconfigure drives from Lizard.SR_vFOCmode, which previously had to be set by the user before any motion would work.Implementation
Auto-configure bus mode and expose status (ebea0c4)
MODE_SR_vFOC(0x05) on startup so0xF5/0xF6work out of the box.0x05magicMAX_MODEwith namedMODE_CR_OPEN/CLOSE/vFOCandMODE_SR_OPEN/CLOSE/vFOCconstants;MAX_MODEis now defined in terms ofMODE_SR_vFOC.statusproperty (defaultSTATUS_OK). The0x82response handler validates the 3-byte CRC and setsSTATUS_SET_MODE_FAILEDwhen the drive rejects the mode change.set_bitratemethod (73a82c4)send_set_bitrate(rate)wraps the0x8ACAN command, clamped toMAX_BITRATE.set_bitrateis exposed to Lizard as a string argument ("125K"/"250K"/"500K"/"1M", case-insensitive). Unknown rates are logged viaechoand ignored.BITRATE_125K/250K/500K/1MandMAX_BITRATEconstants in the header.Progress