Infas12/DjiMotorSocketCanDriver

DjiMotorSocketCanDriver

A simple c++ driver for Dji M3508 and M2006.

Platform

Linux

Requirements

• CMake
• a USB2Can board that supports socketCan

Usage

Initialization

0. Plug in your socketCan board and use ip link show to check its portname. Normally, it should be "can0".

1. Specify portname and initialize CanManager.

CanManager::Instance()->SetPortName("can0");
CanManager::Instance()->Init();

2. Construct Motor object and set CanID.

M3508 testMotor; //Construct object
testMotor.Registration(0x201);  //specify Can ID

3. Configure Control Mode.

Here we provided 3 control modes: SPD_MODE, POS_MODE and RELAX_MODE. When in RELAX_MODE the motor will have no output torque.

Example: to use speed control mode:

testMotor.controlMode = Motor::SPD_MODE;

4. Configure PID Parameter.

In the motor class we provide a nested PID controller for position and speed control. (Check M3508::Update()).

Configuring pidPosition is not required when using SPD_MODE, but we strongly recommand you to do so.

//Position Control
testMotor.pidPosition.kp = ...;
testMotor.pidPosition.ki = ...;
testMotor.pidPosition.kd = ...;
testMotor.pidPosition.maxOut = ...;
testMotor.pidPosition.maxIOut = ...;

//Speed Control
testMotor.pidSpeed.kp = ...;
testMotor.pidSpeed.ki = ...;
testMotor.pidSpeed.kd = ...;
testMotor.pidSpeed.maxOut = ...;
testMotor.pidSpeed.maxIOut = ...;

Control loop

0. The control loop should be ran at about 1000 Hz.

1. To control the motor, simply set speedSet or positionSet.

testMotor.speedSet = velDesired;

or

testMotor.positionSet = posDesired;

2. Then, call update().

testMotor.update();

See Motor.hpp for details.

3. Send Command

DjiMotorManager::Instance()->Update();

Brief example

int main()
{
    
    CanManager::Instance()->SetPortName("can0");
    CanManager::Instance()->Init();
    
    M3508 testMotor; 
    testMotor.Registration(0x207); //set ID

    testMotor.pidSpeed.kp = 3;
    testMotor.pidSpeed.ki = 0.2;
    testMotor.pidSpeed.kd = 0.05;
    testMotor.pidSpeed.maxOut = 10;
    testMotor.pidSpeed.maxIOut = 10;
    testMotor.controlMode = Motor::SPD_MODE; //set control mode

    while(true)
    {
        testMotor.speedSet = 2.0f;
        testMotor.Update();
        DjiMotorManager::Instance()->Update();
        std::this_thread::sleep_for(std::chrono::milliseconds(1));
    }
}