From 2cf5534d5b367abe0a5244f2536c1ab61654c5e0 Mon Sep 17 00:00:00 2001 From: Arthur Van Betsbrugge <avbetsbr@gmail.com> Date: Sun, 16 Feb 2020 14:09:45 -0500 Subject: [PATCH] Ajout description du set up du C610 et M2006 --- README.md | 84 ++++++++++++++++++++++++++++++++++++++++++++++++++++++- 1 file changed, 83 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index f95521f..30b20ab 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,4 @@ -# Contrôle et systèmes +# Contrôle et systèmes ## Description de l'équipe @@ -36,3 +36,85 @@ * [RobotRTS, quickstart](https://robomaster.github.io/RoboRTS-Tutorial/#/en/roborts) * [Infantry Setup, UBC](https://docs.google.com/document/d/19cvIZilfux3r4_W7IBOViRhD_JSUb53r_CtSJ3eYy1E/edit) +### Set up du ESC C610 et M2006 +* Set up manuel: + a. In the normal working state of the ESC, press the SET button for a short time to enter the independent setting ID mode. + At this time, the indicator light is off. + b. In the independent setting ID mode, short press the SET button (no more than 8 times) is the set ID number. Each + Press briefly, the indicator light flashes once. + c. If the SET button is not operated for 3 seconds, the ESC will automatically save the current setting ID number. ESC needs to set ID + Duplicate IDs cannot occur on the same bus, otherwise ESCs with conflicting IDs will warn and close the output +* Set up automatique: + a. Under normal working conditions, short press the SET button of any C610 ESC on the bus once to enter the independent mode. + After the ID setting mode, press and hold the SET button again. At this time, all ESCs on the bus will enter the quick setting ID mode. + The ESC indicator is solid orange. + b. Manually rotate the rotor of the M2006 motor corresponding to the C610 ESC in turn according to the preset ID (rotate at least in any direction) + More than half a circle), the ESC will automatically start numbering from 1 in turn according to the rotation order, the numbered ESCs need to be + powered on again. + Can enter normal working conditions. +* Calibration: + After the ESC motor is connected and powered on, the user calibrates the motor's position sensor parameters to ensure that the motor can + Enough to work normally, the specific operation is as follows: + a. Press and hold the SET button until the indicator light flashes green quickly and release the SET button. + b. The motor enters the automatic calibration mode, and it will automatically exit the calibration mode after the calibration is completed. + +* Procédure du CAN: +CAN communication protocol + +1. ESC receive message format + Used to send a control instruction to the ESC to control the ESC's current output. The two identifiers (0x200 and 0x1FF) correspond + Control ESC for 4 IDs. Control torque current value range -10000 ~ 0 ~ 10000, corresponding to the torque current of ESC output + + The range is -10 ~ 0 ~ 10A. + Identifier: 0x200 Frame format: DATA + Frame type: Standard frame DLC: 8 bytes + + Data field content ESC ID + DATA [0] 8-bit higher control current value 1 + DATA [1] 8-bit lower control current value 1 + + DATA [2] 8-bit higher control current value 2 + DATA [3] 8-bit lower control current value 2 + + DATA [4] 8-bit higher control current value 3 + DATA [5] 8-bit lower control current value 3 + + DATA [6] 8-bit higher control current value 4 + DATA [7] 8-bit lower control current value 4 + + Identifier: 0x1FF Frame format: DATA + Frame type: Standard frame DLC: 8 bytes + + Data field content ESC ID + DATA [0] 8-bit higher control current value 5 + DATA [1] 8-bit lower control current value 5 + + DATA [2] 8-bit higher control current value 6 + DATA [3] 8-bit lower control current value 6 + + DATA [4] 8-bit higher control current value 7 + DATA [5] 8-bit lower control current value 7 + + DATA [6] 8-bit higher control current value 8 + DATA [7] 8-bit lower control current value 8 + +2. ESC feedback message format + The feedback data sent by the ESC to the bus. + Identifier: 0x200 + ESC ID (eg: ID is 1, this identifier is 0x201) + Frame format: DATA + Frame type: standard frame + DLC: 8 bytes + + Data field content + DATA [0] 8-bit higher rotor mechanical angle + DATA [1] 8-bit lower mechanical rotor angle + + DATA [2] 8-bit higher rotor speed + DATA [3] 8 digits lower rotor speed + + DATA [4] 8 digits higher actual output torque + DATA [5] 8 digits lower actual output torque + + DATA [6] Null + DATA [7] Null + -- GitLab