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Direct Drive Sim Racing Wheel with Raspberry Pi 4, SimHub, EtherCAT, and USB FFB

Features

Real-time motor control using EtherCAT (SOEM)
USB HID gadget presenting wheel axis + FFB
Game telemetry from SimHub (UDP)
Sends torque commands, receives encoder position

Setup

Build EtherCAT driver: cd ethercat_motor make
Setup USB gadget: sudo python3 usb_ff_gadget.py
Start integration: python3 main.py

Make sure you have SOEM installed and an RT kernel.