Getting started moteus on mac using python

Before you can use it, make sure you install moteus-gui.

$ pip3 install moteus-gui

First you need to find the usbmodem. You can do this by running the following:

$ ls /dev/* | grep usb

Mine return /dev/cu.usbmodem2FB917B11

Now run the following command to open the gui:

$ python3 -m moteus_gui.tview --devices=1 --fdcanusb /dev/cu.usbmodem2FB917B11

To plot the unwrapped posistion do the following:

Click `telemetry`
Select Motor -> servo_stats
Right Click unwrapped_position
Select Plot Left

Now lets run a command. Type the following in the console:

d pos nan 0.2 0.3 s0.8

If it does not spin the motor, check servostatus.mode and servostatus.fault. When I tried this, I got fault code 39. This happened, because I spun the motor too much by hand…

To fix this run:

d stop

Then manually turn motor till the value is between 1 and -1. Now try again

For other commands:

https://github.com/mjbots/moteus/blob/main/docs/reference.md

Voila.