DaMiao Motor

Safety

Commands can move hardware immediately. Use a secure setup and keep clear of moving parts.

What you can do

• CLI Tools

Use damiao commands to scan, command, and configure motors.

• Web GUI

Monitor live position, velocity, torque, and edit writable registers.

• Python API

Build robust control loops and automate multi-motor workflows.

• Motor Control Modes

Understand MIT, POS_VEL, VEL, and FORCE_POS behavior in detail.

Control laws preview

The MIT mode combines position error, velocity error, and feedforward torque:

T_ref  = Kp * (p_des - theta_m) + Kd * (v_des - dtheta_m) + tau_ff
iq_ref = T_ref / K_T
id_ref = 0

See all control law diagrams:

• MIT mode
• POS_VEL mode
• VEL mode
• FORCE_POS mode

Installation

Install from PyPI

pip install damiao-motor

Install from source

For latest repository updates:

git clone https://github.com/jia-xie/python-damiao-driver.git
cd python-damiao-driver
pip install -e .

Verify Installation

python -c "import damiao_motor; print(damiao_motor.__version__)"

Then verify CLI availability:

damiao --help

Next steps

• Hardware Setup - CAN interface setup
• Package Tools - Using the CLI tools