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blmc_drivers package from blmc_drivers repo

blmc_drivers

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.0.0
License BSD 3-clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/open-dynamic-robot-initiative/blmc_drivers.git
VCS Type git
VCS Version master
Last Updated 2025-02-18
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags real-time robotics
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Drivers for CAN-communication with BLMC related devices developed in https://github.com/open-dynamic-robot-initiative/ .

Additional Links

No additional links.

Maintainers

  • Vincent Berenz
  • Felix Widmaier

Authors

No additional authors.
README.md

Brushless Motor Control Real-Time CAN API

This package provides a real-time API for communication with the motor control board and the OptoForce sensor via CAN.

A description of the CAN protocol that is implemented by this library can be found in the documentation of the mw_dual_motor_torque_ctrl firmware.

This package contains a executable blmc_can_demo, that shows how to use the library.

Dependencies and other Requirements

  • Supports Ubuntu patched with PREEMPT_RT patched kernel (see documentation on how to install the PREEMPT_RT kernel).
  • Experimental support for Mac OS and Ubuntu patched with Xenomai

See also the real_time_tools package.

A real-time CAN driver has to be loaded and the interface to be set up. This can be done with the script start_rtcan that is included in the xenomai-core repository. With PREEMPT_RT we also made good experience using the default driver, though.

Note that the board has to run a program that implements the same CAN protocol. At the time of writing this README, this is only the case for mw_dual_motor_torque_ctrl.

Build Instructions

Please see the build instructions in the documentation.

Authors

  • Felix Widmaier
  • Manuel Wuethrich
  • Maximilien Naveau
  • Steve Heim
  • Diego Agudelo
  • Julian Viereck

License

BSD 3-Clause License

Copyright(c) 2018 Max Planck Gesellschaft, New York University

CHANGELOG

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

Unreleased

Added

  • Static MotorBoardStatus::get_error_description(uint8_t error_code) to get a description for a given error code.

Removed

  • SerialReader and the slider box scripts. Both have been moved to the slider_box package.

Changed

  • MotorBoardStatus::get_error_description() now returns a std::string_view to avoid dynamic memory allocation.

2.0.0 - 2021-08-04

Removed

  • Remove master-board/SPI-related modules and the corresponding dependencies (#20, #21).

Fixed

  • Make sure CAN frames are initialised to zero (#22).

1.0.0 - 2021-07-21

Version 1.0.0

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
ament_cmake_gtest
mpi_cmake_modules
real_time_tools
time_series
Eigen3
rt
Threads

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
solo

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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