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Actuator CAN

C++ Driver for Mini Chetaah-type actuators

sending commands to motors using SocketCAN interface which is natively supported in linux. (can be used with CAN to USB adapters)

send-reply frequency is set to 6KHz in each command loop (sending commands to 12 motors 3 on each actuator) in test programs, however depending on hardware capabilities it can work in faster rates.

Dependencies

  • linux SocketCAN
  • LCM (used to log and review sent and recived data)

Build

mkdir build
cd build
cmake ..
make
sudo make install # optional

Tests

  • single_loop: commands for all actuators are handled in one loop.
  • parallel_loops: command loop for each actuator runs in a parallel thread at same time.

to test it with virtual CAN CANdevStudio can be used.