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.

Links

• Documentation
• Source Code
• Bug Tracker

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

How to Contribute

Bug reports are always welcome. Please open an issue on GitHub.

If you want to contribute code to this package, please see the TriFinger Contribution Guide.