VSMD

Controller for VSMD can motor

Debug model

Explained by doc file VSMD1X6_SERIES_V1.0.pdf, it's easy to convert can.message to meaningful frame.

bus = can.interface.Bus(bustype='socketcan', channel='can0', bitrate=500000)

while True:
    for msg in bus:
    print("\n%2d\n" % cnt)

    # set debug = true make it to show inf of can-frame
    can_frame = VsmdCanFrame(msg, debug=True)

For an example,say frame 0004079F#0020000000000000 , it can be interpreted as below:

************************************************************                                                                                                             
| Main:  |                                                                                                                                                               
+ Raw                    :  0004079f#0020000000000000
+ Sender                 :  vcan0
+ Extent ID Frame        :  00000000001000000011110011111
+ DLC                    :  8
+ Data Frame             :  ['00200000', '00000000']

| Extend ID Frame |
+ Source Device          :  Pi
+ Target Device          :  BroadCast
+ Command Word           :  11
+ CMD or Register ADR    :  READ_DATA_REGS

| Action |
+ CW Means               :  CMD
| Data Frame |
+ Command                :  [('Data Reg Start:', <DataRegTable.CID: ['0000000', 'Channel ID', 'Determined by motor']>), ('Data Reg count:', 32)]                        
************************************************************

Quick VSMD-CAN setup and drive

See in CommonCMD in VSMD1X6.py

Generate your own CMD

I have sealed most type of command of VSMD in script,you can import them like this:

from VSMD import CommonCMD

Which contains these sub-function:

• enable_motor(device: str)

  ENA 0x01

  CAN motor is allowed to move after ENA is ON

• disable_motor(device: str)

  OFF 0x02

  Make CAN motor ignore move cmd. Often used for broadcast

• move_motor(device: str, speed: int)

  MOV 0x05

  Move motor with specific speed. This is somehow dangerous

• stop_motor(device: str)

  STP 0x04

  Stop the motor now.

• move_to(device: str, pos: int)

  POS 0x06

  Mode to absolute pos.

• move_dis(device: str, dis: int)

  RMV 0x0B

  Mode to relative pos.

• read_status_regs(device: str, reg: StatusRegTable, cnt: int)

  READ STATUS REGS 0x1E

  Follow the PDF

• read_data_regs(device: str, reg: DataRegTable, cnt: int)

  READ DATA REGS 0x1F

  Follow the PDF

• write_data_regs(device: str, reg: DataRegTable, data):

  Note that you must use save after write some registers