Getting started¶

Installation¶

pip install python-cybergear

Or with uv:

uv add python-cybergear

CAN interface setup (Linux)¶

Bring up the CAN interface at 1 Mbit/s before using the library:

sudo ip link set can0 type can bitrate 1000000
sudo ip link set can0 up

To make it persistent across reboots, add a systemd-networkd config or an /etc/network/interfaces entry for can0.

CAN configuration file¶

The driver reads CAN interface settings from ~/.can automatically. Create it once and you never need to pass bus_config= in your code:

~/.can

[default]
interface = socketcan
channel = can0
bitrate = 1000000

A template is included in the repo at .can.example.

You can still pass bus_config= explicitly when you need to override it (e.g. multiple buses, tests):

motor = CyberGearMotor(bus_config={'interface': 'socketcan', 'channel': 'can1'})

Connecting to a motor¶

from cybergear import CyberGearMotor

# CAN config from ~/.can, motor CAN ID = 0x01
with CyberGearMotor(can_id=0x01) as motor:
    motor.enable()

    fb = motor.feedback
    print(f'temp={fb.temperature:.1f} °C  pos={fb.position:.4f} rad')

    motor.disable()

can_id must match the motor's configured CAN node ID (factory default: 0x7F).

Auto-detecting the motor CAN ID¶

If you don't know the motor's ID, omit can_id — the driver scans IDs 1–127 and raises if zero or multiple motors respond:

with CyberGearMotor() as motor:
    print(f'Found motor at CAN ID {motor.can_id}')

To scan without creating a motor instance:

found = CyberGearMotor.scan()
# [(1, b'\x01\x02...'), ...]  — list of (can_id, device_id_bytes)
print(found)