mini-cheetah-motor-driver-socketcan 0.1

A Python Driver for MIT Mini-Cheetah Actuator which uses SocketCAN for communication.

Python Motor Driver for Mini Cheetah Actuator: T-Motor AK80-6

This driver was developed at Robotics Innovation Center at DFKI GmbH, Bremen.

It assumes the use of PEAK System's PCAN-USB adapter connected to a linux (tested on Ubuntu) computer. The SocketCAN inteface is used, thus allowing the use of Python Socket library.

Dependencies:

• bitstring

Install via:

pip3 install bitstring

Documentation

• Useful videos:
  • From T-Motor
  • From Skyentific
• Datasheet
• Documentation from Ben Katz

Pre-requisites:

• Setting up the CAN interface:

  • Run this command and make sure that can0 (or any other can interface depending on the system)shows up as an interface after connecting the USB cable to your laptop: ip link show

  • Configure the can0 interface to have a 1 Mbaud communication frequency: sudo ip link set can0 type can bitrate 1000000

  • To bring up the can0 interface, run: sudo ip link set up can0

• To change motor parameters such as CAN ID or to calibrate the encoder, a serial connection is used. The serial terminal that can be used on linux for this purpose is cutecom.

Usage:

Import: from motor_driver.canmotorlib import CanMotorController

Example Motor Initialization: motor = CanMotorController(can_socket='can0', motor_id=0x01, socket_timeout=0.5)

Available Functions:

• enable_motor()
• disable_motor()
• set_zero_position()
• send_deg_command(position_in_degrees, velocity_in_degrees, Kp, Kd, tau_ff):
• send_rad_command(position_in_radians, velocity_in_radians, Kp, Kd, tau_ff):
• change_motor_constants(P_MIN_NEW, P_MAX_NEW, V_MIN_NEW, V_MAX_NEW, KP_MIN_NEW, KP_MAX_NEW, KD_MIN_NEW, KD_MAX_NEW, T_MIN_NEW, T_MAX_NEW)

All functions return current position, velocity, torque in SI units except for send_deg_command. change_motor_constants does not return anything.