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Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[0.1.1] - 2026-03-22

Fixed

  • motor_control() frame layout: torque field belongs in arb_id[23:8], position/velocity/kp/kd in data bytes (big-endian uint16). Previous layout had torque and position swapped, causing motors to go to wrong positions.
  • reset_to_zero() now works correctly.
  • loc_ref setter now auto-sends limit_spd first (mirrors official app behaviour — motor won't move if speed limit is zero).
  • _parse_parameter_table_message no longer crashes the notifier thread on unknown parameter index.

Added

  • Full unit test suite (mock-based, no hardware required).
  • Virtual CAN integration tests using vcan0.
  • Hardware tests gated with -m hardware pytest marker.
  • ruff formatting and linting.

Changed

  • can_id default changed from 0x7F to None; passing None triggers scan() to auto-discover the motor.
  • ParameterTable.v_ref renamed to elec_offset (confirmed via encoder calibration dump).

[0.1.0] - 2026-03-21

Initial release of the Python driver for the Xiaomi CyberGear brushless motor.

Added

  • CyberGearMotor class for controlling the motor over CAN bus via python-can.
  • Motion modes: motion control, position, velocity, current (torque).
  • motor_control(position, velocity, torque, kp, kd) for closed-loop control.
  • set_position_ref(), set_speed_ref(), set_current_ref() setters.
  • enable() / disable() / emergency_brake() motor state commands.
  • reset_to_zero() — sets the current position as the new zero reference.
  • encoder_calibration() — triggers calibration and blocks up to 30 s for the result.
  • set_can_id() — changes the motor's CAN ID.
  • scan() classmethod — auto-discovers a motor by querying CAN IDs 1–127.
  • CommunicationTypeCan, ParameterIndex, ParameterTable, RunMode, CanMask enums.
  • CybergearException / CybergearMotorInitException for structured error handling.
  • cybergear-scan CLI entry point.
  • cybergear-dashboard CLI entry point (requires textual / rich).