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yihuai-gao / arx5-sdk

C++ and Python SDK for ARX5 robot arm develeoped by @yihuai-gao (@real-stanford)
MIT License
27 stars 2 forks source link

about can setup #11

Closed jkzhao01 closed 1 month ago

jkzhao01 commented 1 month ago

hello yihuai,

After connecting the arx arm with my laptop. i follow your CAN setups to find out the correct firmware type. I firstly run ls /dev/ttyACM*, the terminal outputs: "Unknown device "/dev/ttyACM": No such file or directory", then i try the second option and run ip a and there is no `can` interface. All the two options fail, what is the reason? I'm sure the connection is ok.

thank you very much! 20240815-171057

yihuai-gao commented 1 month ago

Hi jkzhao01, could you list all the /dev/ files and find whether there are any changes after plugging the adatper (should be ttyACM0,1,2 etc)? You can also take a picture of your CAN adapter and let me check whether there are any connection problems. In the worst case, you can order several other USB-CAN adapters and try them one by one. It is possible that some adapters are just broken (see other issues).

Additionally, I'll release the EtherCAT-CAN interface soon. You can have a try afterwards.

yihuai-gao commented 1 month ago

EtherCAT-CAN interface is ready

jkzhao01 commented 1 month ago

hi yihuai, thank you for your quick reply! below is my hardware connection, so based on my connection and your updated readme, i should chose to the EtherCAT-CAN interface setup? not the USB-CAN interface, right? According to your latest EtherCAT-CAN setup, I run test scripts python examples/test_joint_control.py X5 enx207bd2ee2ba9but get the new error showing the in the picture. 20240816-113129 20240816-113708 20240816-113759

jkzhao01 commented 1 month ago

hi yihuai, the problem has been fixed. I pull the updated codes to local and rebuild it, then the arx robot moves. Thank you!