Spectral-BLDC

Python lib for controlling Spectral BLDC motor controllers over CAN bus. For more info about this API and all available commands check DOCS

Related projects

| Product | Description | Links |

|---|---|---|

| Spectral Micro BLDC Controller | Compact brushless motor controller with CAN bus, position/velocity/torque/impedance control modes | GitHub |

| SSG-48 Adaptive Electric Gripper | Adaptive electric gripper controllable over CAN bus | GitHub |

| MSG Gripper | Compliant AI stepper gripper with force control, open-source firmware, GUI and Python API; designed for assembly tasks and AI training | Store · GitHub · Docs |

| STEPFOC Stepper Controller | FOC-based stepper motor controller that turns low-cost steppers into high-performance robotic servos; CAN & UART, 14-bit encoder, open-source | Store · GitHub · Docs |

How to install

pip install Spectral-BLDC

Basic example

import Spectral_BLDC as Spectral

import time





Communication1 = Spectral.CanCommunication(bustype='slcan', channel='COM41', bitrate=1000000)

Motor1 = Spectral.SpectralCAN(node_id=0, communication=Communication1)



while True:



    Motor1.Send_Respond_Encoder_data()



    message, UnpackedMessageID = Communication1.receive_can_messages(timeout=0.2)



    if message is not None:



        Motor1.UnpackData(message,UnpackedMessageID)

        print(f"Motor position is: {Motor1.position}")

        print(f"Motor speed is: {Motor1.speed}")



    else:

        print("No message after timeout period!")

    print("")

    time.sleep(1 )

More examples

Check out the Examples folder for more examples!

Available examples:

• Send_respond_1

• Get_encoder_data

• SSG48_gripper_test

This project is entirely open-source and free for all to use. Any support, whether through donations or advice, is greatly appreciated. Thank you!