/EPOSx_2wheels

This program is for communicating and controlling two Maxon Motors (Motor Driver : EPOS4).

Primary LanguageCApache License 2.0Apache-2.0

EPOSx_2wheels

Description

  • This program is for communicating and controlling two Maxon Motors (Motor Driver : EPOS4).
  • The message is communicated by a text file. So it doesn't depend on ROS1
  • Don't load ROS1 environment.

Installation (On "epos_2wheels_txt/" directory)

  1. Run $ sudo bash EPOS_INSTALL/install.sh to install EPOSx library.
  2. Run $ mkdir build && cd build && cmake .. && make to compile programs.

Usage

Example : $ ./epos_2wheels --yaml_file ../yaml/cfg_EPOS.yaml --wheel_spd_path ../yaml/

Options

  • yaml_file : EPOSx configure file.
  • wheel_spd_path : Text folder path to communicate to ROS.

How to control?

  • Executing epos_2wheels, please run this command on other shell on yaml/directory.

    $ >EPOS0.txt && echo "100" >> EPOS0.txt

  • After run this, EPOS0.txt is written "100" and MAXON Motor will spin 100 rpm.

  • Please Edit EPOS0.txt and EPOS1.txt to control motors. ROS1 package can edit these automatically.

Caution (Bug)

  • Don't load ROS1. If you want to use ROS1 environment, Please use other terminal and load this.

Licence

  • Apache2.0