IQ.Pilot Prebuilt Release @ ab07000

panda/board/body/__init__.py

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+# python helpers for the body panda
+import struct
+
+from panda import Panda
+
+class PandaBody(Panda):
+
+  MOTOR_LEFT: int = 1
+  MOTOR_RIGHT: int = 2
+
+  # ****************** Motor Control *****************
+  @staticmethod
+  def _ensure_valid_motor(motor: int) -> None:
+    if motor not in (PandaBody.MOTOR_LEFT, PandaBody.MOTOR_RIGHT):
+      raise ValueError("motor must be MOTOR_LEFT or MOTOR_RIGHT")
+
+  def motor_set_speed(self, motor: int, speed: int) -> None:
+    self._ensure_valid_motor(motor)
+    assert -100 <= speed <= 100, "speed must be between -100 and 100"
+    speed_param = speed if speed >= 0 else (256 + speed)
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xe0, motor, speed_param, b'')
+
+  def motor_set_target_rpm(self, motor: int, rpm: float) -> None:
+    self._ensure_valid_motor(motor)
+    target_deci_rpm = int(round(rpm * 10.0))
+    assert -32768 <= target_deci_rpm <= 32767, "target rpm out of range (-3276.8 to 3276.7)"
+    target_param = target_deci_rpm if target_deci_rpm >= 0 else (target_deci_rpm + (1 << 16))
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xe4, motor, target_param, b'')
+
+  def motor_stop(self, motor: int) -> None:
+    self._ensure_valid_motor(motor)
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xe1, motor, 0, b'')
+
+  def motor_get_encoder_state(self, motor: int) -> tuple[int, float]:
+    self._ensure_valid_motor(motor)
+    dat = self._handle.controlRead(Panda.REQUEST_IN, 0xe2, motor, 0, 8)
+    position, rpm_milli = struct.unpack("<ii", dat)
+    return position, rpm_milli / 1000.0
+
+  def motor_reset_encoder(self, motor: int) -> None:
+    self._ensure_valid_motor(motor)
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xe3, motor, 0, b'')

panda/board/body/flash.py

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+#!/usr/bin/env python3
+import argparse
+import os
+import subprocess
+
+from panda import Panda
+
+BODY_DIR = os.path.dirname(os.path.realpath(__file__))
+BOARD_DIR = os.path.abspath(os.path.join(BODY_DIR, ".."))
+REPO_ROOT = os.path.abspath(os.path.join(BOARD_DIR, ".."))
+DEFAULT_FIRMWARE = os.path.join(BOARD_DIR, "obj", "body_h7.bin.signed")
+
+
+def build_body() -> None:
+  subprocess.check_call(
+    f"scons -C {REPO_ROOT} -j$(nproc) board/obj/body_h7.bin.signed",
+    shell=True,
+  )
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser()
+  parser.add_argument("firmware", nargs="?", help="Optional path to firmware binary to flash")
+  parser.add_argument("--all", action="store_true", help="Flash all Panda devices")
+  parser.add_argument(
+    "--wait-usb",
+    action="store_true",
+    help="Wait for the panda to reconnect over USB after flashing (defaults to skipping reconnect).",
+  )
+  args = parser.parse_args()
+
+  firmware_path = os.path.abspath(args.firmware) if args.firmware is not None else DEFAULT_FIRMWARE
+
+  build_body()
+
+  if not os.path.isfile(firmware_path):
+    parser.error(f"firmware file not found: {firmware_path}")
+
+  if args.all:
+    serials = Panda.list()
+    print(f"found {len(serials)} panda(s) - {serials}")
+  else:
+    serials = [None]
+
+  for s in serials:
+    with Panda(serial=s) as p:
+      print("flashing", p.get_usb_serial())
+      p.flash(firmware_path, reconnect=args.wait_usb)
+  exit(1 if len(serials) == 0 else 0)