CubeMars Servo CAN

A simplified, robust, and modern Python library for controlling CubeMars AK-series and AKA-series actuators (for example AK40-10 and AKA60-6) via CAN bus in Servo Mode.

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Key Features

• Refactor: Modular codebase with strict type hinting, linting, and solid architecture.
• Zero Bloat: Focused 100% on reliable Servo CAN operation.
• Modern Packaging: Built with uv and pyproject.toml for fast, reliable dependency management.
• Advanced Configuration: Safe defaults for AK-series motors with the ability to safely override parameters or define custom motors.
• Built-in Motor Presets: AK10-9, AK80-9, AK40-10, and AKA60-6.
• Quality Gates: Mock-based test suite with full source coverage (src/cubemars_servo_can/*).

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Hardware Setup

You need a CAN link to use this library.

We highly recommend the Waveshare RS485 CAN HAT for Raspberry Pi.

• Purchase & Wiki Instructions

For motor wiring and initial configuration (setting the servo mode and CAN ID) please refer to the official tutorial PDF included in this repository.

Raspberry Pi + Waveshare RS485 CAN HAT

Keep hardware bring-up details in one place:

• Full Raspberry/Waveshare setup and single recommended runtime flow (boot-time interface bring-up for can0, can1, etc.): Usage Guide

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Quick Start

1. Install

Install directly from the repository using uv or pip:

# Add as a dependency to your project (uv)
uv add git+https://github.com/sam0rr/cubemars_servo_can.git

# Install into the current Python environment (pip)
pip install git+https://github.com/sam0rr/cubemars_servo_can.git

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2. Run

Use the usage guide for mode-by-mode examples:

• Usage Guide

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3. Upgrade

Update to the latest repository version:

# If managed in a uv project dependency:
uv add --upgrade git+https://github.com/sam0rr/cubemars_servo_can.git

# If installed with pip:
pip install --upgrade git+https://github.com/sam0rr/cubemars_servo_can.git

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Documentation

• Usage Guide: Detailed usage of Duty, Current, Velocity, and Position modes.
• Configuration Guide: How to change gear ratios, limits, or add custom motors.

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Included Vendor Files

• AK40-10-firmware-and-parameters: Vendor firmware, parameter dumps, and CAD artifacts for AK40-10.
• AKA60-6-firmware-and-parameters: Official AKA60-6 firmware, parameter dumps, and CAD/manual support files.

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Development

To contribute to this project:

1. Clone the repository:

git clone https://github.com/sam0rr/cubemars_servo_can.git
cd cubemars_servo_can

2. Install dependencies:

uv sync

3. Run linting and formatting:

uv run ruff check . --fix
uv run ruff format .

4. Run type check:

uv run mypy

5. Run dead code check:

uv run vulture

6. Run tests:

uv run pytest

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