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eeduro / delta

Software for the Delta robot
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BLDC over Serial/CanBus version? #1

Closed samuk closed 11 months ago

samuk commented 11 months ago

I'm kicking around an idea to make a Delta using BLDC motors, using serial or CanBUS comms.

Provisional BOM: https://github.com/Agroecology-Lab/Open-Weeding-Delta/blob/master/hardware/readme.md#kinematics-software

Would your HAL be flexible to accommodate that so I could use your code without major rewrites?

The motor drivers would provide a serial commander interface

ursgraf commented 11 months ago

That should be no problem. Our HAL simply deals with how to physically access the underlying hardware. We support various types of HAL's, such as EtherCAT, external ADC/DAC, CANopen.

samuk commented 11 months ago

Great, I'll investigate further and report back any actual issues.

Great to spot you have a ROS2 wrapper: https://github.com/eeros-project/ros-eeros

Did you have any comments on my proposed hardware? https://github.com/Agroecology-Lab/Open-Weeding-Delta/blob/master/hardware/readme.md#reference-hardware