Motor Test GUI

Motor GUI for motor control, monitoring, tuning, and IMU visualization.

Features

• Serial UART,RS485 and CAN support
• Motor ID detection
• Motor mode switching:
  • Stop
  • Self-test
  • Calibration
  • Open-loop
  • Current loop
  • Speed loop
  • Position loop
• Target control for:
  • Iq
  • Id
  • Speed
  • Position
  • Uq / Ud
• PID tuning interface
• Limits configuration
• Real-time data monitoring
• Communication log
• Manual hex command sending
• IMU 3D visualization
• Optional custom 3D model loading

Project Files

• motor_gui.py — main GUI application
• run.bat
• run.sh

Installation

Option 1: Linux/macOS

sh ./run.sh

Option 2: Win

bash run.bat

Main Interface

The application contains these tabs:

• Connection
• Motor Control
• PID Tuning
• Real-time Data
• Limits
• Communication Log
• Manual Command
• IMU 3D Display

Usage

1. Connect to device

• Select communication interface:
  • UART
  • RS485
  • CAN
• For serial:
  • Choose serial port
  • Choose baudrate
• For CAN:
  • Set CAN channel
  • Set bustype
  • Set bitrate
• Click Connect

2. Detect motor

• Click Detect Motor ID
• Select the detected motor ID in the motor control tab

3. Set operating mode

Available modes:

• Stop
• Self-test
• Calibration
• Open-loop
• Current loop
• Speed loop
• Position loop

4. Configure targets

Depending on the control mode, set:

• Iq target
• Id target
• Speed target
• Position target
• Uq / Ud target

Then apply the values through the GUI.

5. Tune parameters

Use the PID tuning tab to adjust controller parameters.

6. Monitor data

Use the real-time data and IMU tabs to observe:

• Currents
• Speed
• Position
• IMU orientation

7. Send manual commands

Use the manual command tab to send raw hexadecimal commands and inspect received data.

Troubleshooting

No serial port shown

• Check whether the device is connected
• Verify system permission for serial devices
• Refresh the port list

CAN not available

• Install python-can
• Verify CAN adapter, channel, and driver configuration

GUI does not start

• Confirm Python 3 is installed
• Confirm all required packages are installed
• Re-run the .bat or .sh
• Activate the virtual environment before running