Contrôle et systèmes
Description de l'équipe
Organisation des fichiers
- Datasheets
- devBoard_setup
- Tutorial and blank examples for board A and B
- Standard_robot
- Code pour un robot standard
- tourelle
- ROS test
TODO List
- [ x ] Programmer les dev boards + tutoriel
- [ x ] Faire fonctionner les différents moteurs
- [] Structure générale du code
- [] Compilation et upload du code dans Linux
Liens utiles
Githubs
Sites des équipes
Tutorials
Set up du ESC C610 et M2006
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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
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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.
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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.
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Procédure du CAN: CAN communication protocol
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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
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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