candlesdk 1.2.1

Python package for controlling MD-based actuators

CANdle-SDK

A toolkit for developing applications using MAB Robotics MD motor controllers and actuators.

Dependencies & Requirements

Linux

sudo apt install build-essential git cmake libusb-1.0-0-dev

Windows

Package requires w64devkit to build. It can be automatically downloaded and configured using:

launch/buildForWindows.bat

To use CANdle on Windows, one must manually change USB driver for CANdle, to WinUSB:

1. Download and run Zadig 2.8
2. Options -> List all devices
3. Select MD USB-TO-CAN from drop down menu
4. Changed driver type to libusb-win32
5. Click Replace Driver
6. Wait for installation to finish.

Build

Linux based OS

Building for Linux system:

./launch/buildForLinux.sh

Using Docker (only on x86_64 architecture)

(See: Installing docker on Linux(ubuntu) )

Run:

./launch/runDockerForLinux86-64.sh

Cross-compile for Windows

Using Docker

./launch/runDockerForWindows.sh

Natively build on Windows

Using powershell run

./launch/buildForWindows.bat

Compiling Python module

Dependencies are listed inside pyproject.toml

To compile for the current system run build command inside repository using your preferred python binary, for eg. python -m build.

To compile against multiple versions of libc and python use:

./launch/pythonBuildWheel.sh

To install use pip install on the desired wheel, for eg. python -m pip install ./dist/pycandlemab-1.7.0-cp310-cp310-linux_x86_64.whl for CPython 3.10, glibc and x86-64 arch.

Including CANdle-SDK in your projects

Best way to include CANdle-SDK in your code is to include it as a git submodule and include it in you CMakeLists.txt like this:

git submodule add [e-mail]:mabrobotics/CANdle-SDK.git
git submodule update --init --recursive

You can than use candlelib as a library to link against your executables.

Below examplary CMakeLists.txt:

cmake_minimum_required(VERSION 3.15)

project(myCandleProject)

add_subdirectory(CANdle-SDK) # added as a submodule
add_executable(myCandleProject main.cpp)
target_link_libraries(myCandleProject candle)

Documentation

For more information check out our documentation page here.