Introduction

This repository contains the Python driver to easily interact with the 3D printed robotic actuator.

Finite State Machine

Dependencies

• can
• cantools

CAN Protocol

Frame	Signal	Bit Position	Bit Length	Scale	Offset	Units	Notes
0x001		0 16 32	16 16 16	0.125 0.125 0.125	0 0 0	- - -	P value for the PID position control I value for the PID position control D value for the PID position control
0x002		0 16 32 48	16 16 16 16	0.125 0.125 0.125 0.125	0 0 0 0	- - - rad/s	P value for the PID speed control I value for the PID speed control D value for the PID speed control Speed limit
0x003		0 16 32 48	16 16 16 16	0.125 0.125 1 0.125	-4095 -4095 -4095 -4095	V V - rad	Voltage limit for motor input Voltage limit for aligning in calibration Calibration (1 skip, 0 calibrate) Electric angle offset
0x004		0 16 32 48	16 16 16 16	0.125 0.125 1 0.125	-4095 -4095 -4095 -4095	V V I rad	Ua component of voltage input Ub component of voltage input Current drawn by motor Electric angle
0x005		0 16 32	16 16 16	0.125 0.125 0.125	-4095 -4095 -4095	rad rad rad/s	Current mechanical angle Mechanical angle setpoint Shaft speed
0x006		0	16	1	0	-	Finite State Machine transition
0x007		0	16	0.125	-4095	rad	Motor set point command

Usage Example

import motor_driver
import numpy as np

if __name__ == '__main__':
    motor = motor_driver.MotorDriver(cobid=10, channel='can0')  # Instantiate the Python class
    motor.send_config_1(P_controller=1.0, I_controller=0.1, D_controller=0.0)  # Configure position PID with config1
    motor.send_config_2(P_vel=2.0, I_vel=0.01, D_vel=0, Vel_lim=20.0)  # Configure velocity PID and max vel with config2
    motor.send_config_3(Volt_lim=20.0, V_aling=7.0, Calibrate=0, Zero_angle_elec=0.0)  # Configure max volts and calibration params with config3
    motor.send_transition(1)  # Transition to preop
    motor.send_transition(3)  # Transition to run

    x = np.linspace(1, 10, num=10)
    y = np.sin(x)
    
    for n in range(y.size):
        print(n)
        motor.send_command(y[n])  # send angle commands
        print(m