35202600795
74%

Ran 17 Sep 2026 09:00AM UTC

Jobs 1

Files 13

Run time 1min

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Committed 17 Sep 2026 08:58AM UTC coverage: 72.586% (+0.3%) from 72.33%

Build # 35202600795

Build Type

push

github

Committed by

NGierden

Commit Message

Resolve motor_spec at call time instead of import time

CubeMarsBaseCAN and its three subclasses declared
motor_spec: MotorSpec = CURRENT_MOTOR_SPEC. That default is bound once, when
the module is imported, so it was never None: the subclasses' documented
"if motor_spec is None" fallbacks only ran when a caller passed None
explicitly, and set_current_motor_model() could not influence it either.

A bare CubeMarsAK606v1CAN() therefore came up carrying the AK60-6 V3 profile,
which selects extended CAN framing and V3 MIT limits. A real V1.1 listens on
the plain standard ID, so it ignored every command and its replies were
dropped: the motor looked dead rather than misbehaving.

Default to None and resolve the spec once, up front, through
definitions.CURRENT_MOTOR_SPEC, the late-binding idiom utils.py already uses.
Each subclass's own profile now applies when none is given, the base class
follows the current selection, and CubeMarsBaseCAN(motor_spec=None) no longer
raises AttributeError.

Construction with an explicit motor_spec, which is what create_can_motor() and
every script does, is unaffected.

Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>

Coverage Stats

1496 of 2061 relevant lines covered (72.59%)

0.73 hits per line

Coverage Regressions

Lines	Coverage	∆	File
156	71.15	0.4%	motor_python/cube_mars_motor_can.py

Jobs

ID	Job ID	Ran	Files	Coverage
1	35202600795.1	17 Sep 2026 09:00AM UTC	13	72.59	GitHub Action Run

TUM-Aries-Lab / motor-module / 35202600795
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