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[Bug Fix] fix: initialize CAN channel and prevent duplicate DM control-loop thread start #31

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[Bug Fix] fix: initialize CAN channel and prevent duplicate DM control-loop thread start #31

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dca7c77
fix(can_interface): initialize channel attribute in constructor
whats2000 Apr 8, 2026
3abf2e1
fix(get_robot): adjust motor chain initialization to prevent re-initi…
whats2000 Apr 8, 2026
7343f67
fix(get_yam_robot): improve motor chain initialization to prevent dup…
whats2000 Apr 8, 2026
493f099
fix(dm_driver): guard duplicate control-loop thread start
whats2000 Apr 8, 2026
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1 change: 1 addition & 0 deletions i2rt/motor_drivers/can_interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@ def __init__(
receive_mode: ReceiveMode = ReceiveMode.p16,
use_buffered_reader: bool = False,
):
self.channel = channel
self.bus = can.interface.Bus(bustype=bustype, channel=channel, bitrate=bitrate)
self.busstate = self.bus.state
self.name = name
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4 changes: 4 additions & 0 deletions i2rt/motor_drivers/dm_driver.py
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Expand Up @@ -510,7 +510,11 @@ def _motor_on(self) -> None:
self.running = True

def start_thread(self) -> None:
if self.start_thread_flag:
logging.info("control loop thread already started, skipping")
return
logging.info("starting separate thread for control loop")
self.start_thread_flag = True
thread = threading.Thread(target=self._set_torques_and_update_state)
thread.start()
time.sleep(0.1)
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