BoardRepo electronics project sharing
100%
Open file
candrive candrive view
Description

Imported from GitHub: Andreasdahlberg/CANDrive · commit 99681f0 · license GPL-3.0

Description

CANDrive is a brushed DC Motor Controller controlled via a CAN interface.

README

CANDrive CI Quality Gate Status Coverage

CANDrive

CANDrive is a brushed DC Motor Controller controlled via a CAN interface.

Features

  • Velocity control
  • Torque control
  • CAN interface
  • Firmware updates over CAN
  • Emergency stop
  • 5 A output current
  • 12-24 V supply voltage

Getting started

Getting the Source

This project is hosted on GitHub. You can clone this project directly using this command:

git clone --recurse-submodules https://github.com/Andreasdahlberg/CANDrive.git

Building

scons build-opencm
scons build

Running Tests

Run all tests with valgrind:

scons test

Run a single test suite:

scons app/motor/test && build/motor/test/TestRunner

Run a single unit test:

scons app/motor/test && build/motor/test/TestRunner test_Motor_SetSpeed

Tools

Monitor

The monitor tool is a serial terminal which parses serial output from the device and formats the output to make it easier to read. It also incorporates a simple command line used for debug commands and device configuration. The debug commands are not intended for controlling the motors during normal operation since they bypass several of the safety features.

Features
  • Host timestamps
  • Color coded debug levels
  • Translation from addresses to file and line
  • Command line
  • Filtering[Not implemented]

Example of monitor output

Usage

The monitor is started by typing scons monitor. Serial port and baudrate can be configured here or on the command line, e.g. scons monitor SERIAL_PORT=/dev/ttyACM0 BAUD_RATE=921600

The serial port used by the monitor is available at JP1 and is disabled by default. It can be enabled by moving jumper J1.

Available commands
rpm

rpm [MOTOR_INDEX] [RPM]

Ex.

CANDrive> rpm 0 50
current

current [MOTOR_INDEX] [CURRENT]

Ex.

CANDrive> current 1 1500
run

run [MOTOR_INDEX]

Ex.

CANDrive> run 0
coast

coast [MOTOR_INDEX]

Ex.

CANDrive> coast 0
brake

brake [MOTOR_INDEX]

Ex.

CANDrive> brake 0
reset

reset

Ex.

CANDrive> reset
level

level [MODULE] [LEVEL]

Ex.

CANDrive> level App 10
store

store [PARAMETER] [VALUE]

Ex.

CANDrive> store number_of_motors 1

Hardware

BOM

Comments
Sign in to comment

No comments yet. Be the first to ask about this board.