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atopile / spin-servo-drive

SPIN ✨ - Servos are awesome 🤩. Spin is an open-source hardware project to make it easy and cost effective to use fully-fledged BLDC servo motors 🚀
https://atopile.io
MIT License
67 stars 7 forks source link

CAN bus control - Position, Velocity, Torque #18

Closed napowderly closed 1 month ago

napowderly commented 4 months ago

Objective: Build a simple interface to send commands + receive status messages from motors.

SimpleFOC has a commander interface that will currently take serial commands https://docs.simplefoc.com/commander_interface

Want to be as standard as possible, a few possible standards to follow/integrate with: https://opencyphal.org/ https://legacy.uavcan.org/Specification/7._List_of_standard_data_types/ https://docs.odriverobotics.com/v/0.5.4/commands.html https://github.com/mjbots/moteus/blob/main/docs/reference.md

mawildoer commented 1 month ago

Selected CANSimple. Implementing w/ #37