RMD X8 90 Driver library

The RMD X8 90 Driver library provides an interface for communicating with RMD motors via CAN bus. This library offers control commands, feedback processing, and error management with an integrated watchdog to monitor timeouts. Designed for high-precision motor control, it supports various command types and feedback processing.

Features

• Command Types: Support for position, velocity, and current commands.
• Feedback Types: Receive motor feedback on position, velocity, configuration, and other states.
• Error Management: Detect and report errors like overheating, overcurrent, and low voltage.

Classes

RmdX890Driver

Main class providing motor control through CAN bus communication. Implements data packing and unpacking, watchdog functionality, and command/feedback management.

Constructor

RmdX890Driver(
    const uint32_t & id,
    const std::chrono::milliseconds & timeout = std::chrono::milliseconds(RMD_DEFAULT_TIMEOUT_MS),
    const bool & invert = false
);

• Parameters:
  • id: Unique motor ID.
  • timeout: Watchdog timeout period.
  • invert: Invert feedback for motor orientation adjustments.

Destructor

~RmdX890Driver() = default;

Member Functions

unpackFeedback

Unpacks CAN frame data into member variables.

bool unpackFeedback(
    const std::array<unsigned char, CAN_MAX_DLC> & data,
    std::chrono::nanoseconds unpack_time
);

packCommand

Packs data into a CAN frame for sending commands.

std::optional<polymath::socketcan::CanFrame> packCommand(
    const CommandType & command_type = CommandType::Velocity,
    const FeedbackType & feedback_type = FeedbackType::Velocity
);

Setters

Set motor command parameters.

• set_speed_cmd: Set speed command.
• set_current_cmd: Set current command.
• set_current_threshold: Set current threshold.

Getters

Retrieve feedback and status information.

• is_feedback_timed_out: Check if feedback timed out.
• get_motor_id: Get motor ID.
• get_speed_feedback: Get speed feedback.
• get_position_feedback: Get position feedback.
• get_current_feedback: Get current feedback.
• get_motor_temperature: Get motor temperature.
• get_error_feedback: Get error status.
• get_feedback_time: Get last feedback timestamp.

Constants

• RMD_DEFAULT_TIMEOUT_MS: Default timeout (500 ms).

Enums

• FeedbackType: Position and velocity, position only, etc.
• CommandType: Command types like position and velocity.
• ErrorFeedback: Error states such as overheating or overcurrent.

Usage

1. Initialize RmdX890Driver with motor ID and timeout.
2. Use set_speed_cmd or set_current_cmd to set motor commands.
3. Use packCommand to create a CAN frame for commands.
4. Call unpackFeedback on received CAN frames to update motor status.
5. Check for errors using get_error_feedback and other getters.

Dependencies

• socketcan_adapter: For CAN frame compatibility.

This driver is designed for robust motor control in robotics applications requiring precise and reliable CAN-based communication.