DDSM115/210 Motor Control GUI

A complete GUI application for controlling DDSM115 and DDSM210 servo motors with automatic motor type detection.

📸 Screenshots

Connection Setup Auto-detects motors and serial ports

Motor Control Velocity, current, and position control

System Information Diagnostics and system details

✨ Features

• Dual Motor Support: Full support for both DDSM115 and DDSM210 motors
• Automatic Detection: Automatically detects motor type and configures interface
• Smart Control: Adaptive control based on motor capabilities
  • DDSM115: Velocity, current, and position control modes
  • DDSM210: Velocity control with heartbeat monitoring
• Real-time Monitoring: Live status updates and graphing
• Safety Features: Emergency stop, communication monitoring, heartbeat system
• User-friendly Interface: Clean 3-tab interface with intuitive controls
• Touch-friendly Design: Large buttons and sliders optimized for touch screens
• Diagnostic Tools: Built-in motor testing and diagnostic functions

🔧 Hardware Requirements

• Motors:
  • DDSM115 Direct Drive Servo Motor (Waveshare) - Full position/velocity/current control
  • DDSM210 Direct Drive Servo Motor (Waveshare) - Velocity control only
• Interface:
  • DDSM115: USB to RS485 adapter (typically /dev/ttyUSB*)
  • DDSM210: Direct USB connection (typically /dev/ttyACM*)
• Power:
  • DDSM115: 12-24V DC supply (18V recommended)
  • DDSM210: 24V DC supply
• Computer: Any computer with USB port running Python 3.8+

🚀 Quick Start

Simple Start (Recommended)

1. Download all files to a folder

2. Run the unified launcher:

   chmod +x start.sh
   ./start.sh

   • Automatically handles first-time setup
   • Creates virtual environment if needed
   • Installs dependencies automatically
   • Launches the application

3. Connect your hardware:

   • Connect motor to 12-24V power supply
   • Connect USB-RS485 adapter between computer and motor
   • Power on the motor

Alternative Installation Methods

Manual Setup:

# Install dependencies manually
pip install pyserial matplotlib numpy
python3 src/ddsm115_gui.py

Development Setup:

# Use existing setup scripts
chmod +x scripts/setup.sh
./scripts/setup.sh

📱 Using the Application

1. Connection

• Select your USB-RS485 port (usually /dev/ttyUSB0 or /dev/ttyACM0)
• Click Connect
• Motors will be auto-detected and displayed

2. Control Modes

DDSM115 Control Modes:

🏃 Velocity Control:

• Range: -143 to 143 RPM
• Good for continuous rotation applications

⚡ Current Control:

• Range: -8A to 8A
• Direct torque control

📍 Position Control:

• Range: 0° to 360°
• Precise positioning with holding

DDSM210 Control Modes:

🏃 Velocity Control Only:

• Range: -210 to 210 RPM
• Built-in heartbeat monitoring when idle
• Position and current controls disabled (motor limitation)

3. Safety Features

🛑 Emergency Stop:

• Immediately stops motor
• Halts all motor commands
• Switches to safe velocity mode

📊 Real-time Monitoring:

• Adjustable scan rate (50ms - 5000ms)
• Live position, velocity, torque display
• Temperature monitoring

⚙️ Configuration

Serial Settings

• Baudrate: 115200 (default, don't change)
• Timeout: 200ms
• Protocol: Custom 10-byte with CRC8

Motor Settings

• DDSM115: Motors use IDs 1-10 (auto-detected), multiple motors supported
• DDSM210: Fixed motor ID 1 (motor ID selection disabled)
• Automatic motor type detection and interface adaptation

🔍 Troubleshooting

Connection Issues

❌ No serial ports found
→ Check USB-RS485 adapter is connected
→ Check driver installation

❌ Connection failed
→ Try different port (/dev/ttyUSB0, /dev/ttyACM0)
→ Check motor power supply
→ Verify RS485 wiring

Motor Not Responding

❌ No motors detected
→ Check motor power (12-24V)
→ Verify RS485 connections (A+, B-, GND)
→ Try manual ID scan in Connection tab

❌ Motor doesn't move
→ Check emergency stop isn't active
→ Verify motor is enabled
→ Check error codes in monitoring tab

Performance Issues

❌ Slow updates
→ Reduce monitoring interval to 100-200ms
→ Disable unnecessary logging

❌ Commands not working
→ Check motor is in correct mode
→ Use emergency stop and try again
→ Check communication status in Connection tab

📋 System Requirements

Minimum Requirements

• OS: Windows 10, macOS 10.14, or Linux (Ubuntu 18.04+)
• Python: 3.8 or higher
• RAM: 100MB
• Disk: 50MB

Dependencies

• pyserial>=3.5 (for RS485 communication)
• Standard Python libraries (tkinter, threading, etc.)

Tested Platforms

• ✅ Ubuntu 20.04/22.04 (x64)
• ✅ Windows 10/11 (x64)
• ✅ macOS 11+ (Intel/Apple Silicon)
• ✅ Raspberry Pi OS (ARM)

🔐 Safety Notes

⚠️ Important Safety Information:

• Always use emergency stop if motor behaves unexpectedly
• Ensure adequate power supply (minimum 2A at 18V)
• Check connections before powering on
• Motor can generate significant torque - secure mounting
• Use appropriate fusing/protection in power circuit

📁 Project Structure

ddsm115-motor-control/
├── start.sh              # Unified launcher (handles setup & launch)
├── requirements.txt      # Python dependencies
├── README.md            # This documentation
├── .gitignore           # Git ignore rules
├── src/                 # Source code
│   ├── ddsm115.py           # DDSM115 motor control library
│   ├── ddsm210.py           # DDSM210 motor control library
│   ├── ddsm115_gui.py       # GUI application (supports both motors)
│   ├── example_cli.py       # Command-line example
│   ├── motor_diagnostic.py  # Diagnostic tools
│   ├── motor_command_queue.py # Command queue system with auto-detection
│   └── gui_diagnostic.py    # GUI diagnostic tools
├── tests/               # Test suite
│   ├── test_*.py            # Unit tests
│   └── stress_test_gui.py   # Stress testing
├── scripts/             # Development scripts
│   ├── setup.sh             # Development setup
│   ├── install.sh           # Installation script
│   ├── run.sh              # Run script
│   └── setup.py            # Python setup
├── docs/                # Documentation
└── ddsm115-portable/    # Generated portable installation

🔧 Library Usage (Without GUI)

Basic Example (DDSM115)

from src.ddsm115 import DDSM115

# Create motor controller
motor = DDSM115(port="/dev/ttyUSB0")

# Connect
if motor.connect():
    # Find motors
    motors = motor.scan_motors()
    
    # Control motor
    motor_id = motors[0]
    motor.set_velocity(motor_id, 100)  # 100 RPM
    
    # Get feedback
    feedback = motor.request_feedback(motor_id)
    print(f"Position: {feedback.position}°")
    
    # Stop and disconnect
    motor.emergency_stop(motor_id)
    motor.disconnect()

Basic Example (DDSM210)

from src.ddsm210 import DDSM210

# Create motor controller
motor = DDSM210(port="/dev/ttyACM0")

# Connect
if motor.connect():
    # DDSM210 always uses motor ID 1
    motor.set_velocity(1, 150)  # 150 RPM
    
    # Get feedback (includes heartbeat when idle)
    feedback = motor.request_feedback(1)
    print(f"Velocity: {feedback.velocity} RPM")
    
    # Stop and disconnect
    motor.set_velocity(1, 0)
    motor.disconnect()

Auto-Detection Example (Recommended)

from src.motor_command_queue import MotorCommandQueue

# Auto-detect motor type
motor_queue = MotorCommandQueue(port="auto")  # Will detect port and motor type

if motor_queue.connect():
    motor_type = motor_queue.get_motor_type()
    print(f"Detected: {motor_type.upper()}")
    
    # Control works regardless of motor type
    motor_queue.set_velocity(1, 100)
    motor_queue.disconnect()

Advanced Example with Callbacks

from src.ddsm115 import DDSM115, MotorFeedback

def on_feedback(motor_id: int, feedback: MotorFeedback):
    print(f"Motor {motor_id}: {feedback.position:.1f}°")

motor = DDSM115()
motor.on_feedback = on_feedback
motor.connect()

# Start automatic monitoring
motor.start_monitoring([1, 2, 3], interval=0.1)

🤝 Support

Getting Help

1. Check the troubleshooting section above
2. Run the debug script: python3 debug_modes.py
3. Check the connection log in the GUI
4. Verify hardware connections

Common Solutions

• Port permission issues (Linux): sudo usermod -a -G dialout $USER
• Driver issues (Windows): Install CH340/FTDI drivers
• Python/tkinter missing: Install python3-tk package

📄 License

This project is licensed under the MIT License - see the LICENSE file for details.

The MIT License is a permissive free software license that allows you to:

• ✅ Use the software for any purpose
• ✅ Modify and distribute the software
• ✅ Include it in proprietary software
• ✅ Sell copies of the software

The only requirement is including the copyright notice and license text in copies.

🔗 Related Documentation

• DDSM115 Motor Specifications
• RS485 Communication Guide
• Python Serial Documentation

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Quick Start Summary:

1. Install Python 3.8+
2. Run: chmod +x start.sh && ./start.sh
3. Connect motor hardware
4. Click "Connect" in the GUI and start controlling!