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• Motor: AK60-6 V3.0

Get all motor parameters.

Command 0x45 returns all motor status in one response.

Motor responds once with complete status data.

    Response format (73 bytes total):
    - MOS temp (2 bytes)
    - Motor temp (2 bytes)
    - Output current (4 bytes)
    - Input current (4 bytes)
    - Id current (4 bytes)
    - Iq current (4 bytes)
    - Duty cycle (2 bytes)
    - Motor speed (4 bytes)
    - Input voltage (2 bytes)
    - Reserved (24 bytes)
    - Motor status code (1 byte)
    - Motor position (4 bytes)
    - Motor ID (1 byte)
    - Temperature reserved (6 bytes)
    - Vd voltage (4 bytes)
    - Vq voltage (4 bytes)
    - Current control mode (4 bytes)
    - Encoder angle (4 bytes)
    - Outer encoder angle (4 bytes)

Install Package

uv pip install -e

Test Commands

make test [no hardware]

make test-hardware [only hardware]

make test-all [everything]