Brushless Motor Control Real-Time CAN API

This package provides a real-time API for communication with the motor control board and the OptoForce sensor via CAN.

A description of the CAN protocol that is implemented by this library can be found in the documentation of the mw_dual_motor_torque_ctrl firmware.

This package contains a executable blmc_can_demo, that shows how to use the library.

Dependencies and other Requirements

• Supports Ubuntu patched with PREEMPT_RT patched kernel (see documentation on how to install the PREEMPT_RT kernel).
• Experimental support for Mac OS and Ubuntu patched with Xenomai

See also the real_time_tools package.

A real-time CAN driver has to be loaded and the interface to be set up. This can be done with the script start_rtcan that is included in the xenomai-core repository. With PREEMPT_RT we also made good experience using the default driver, though.

Note that the board has to run a program that implements the same CAN protocol. At the time of writing this README, this is only the case for mw_dual_motor_torque_ctrl.

Build Instructions

Please see the build instructions in the documentation.

Links

• Documentation
• Source Code
• Bug Tracker

Authors

• Felix Widmaier
• Manuel Wuethrich
• Maximilien Naveau
• Steve Heim
• Diego Agudelo
• Julian Viereck

License

BSD 3-Clause License

Copyright(c) 2018 Max Planck Gesellschaft, New York University