MyActuatorLibSTM32

My Actuator Library for STM32 using HAL Libraries. This library targets RMD motors. These motors is controlled through CAN-BUS with 1 Mbs u can controll multiple motors with one CAN-BUS (Such a cool devices huh 😄). U can access their page here MyActuator.

Features

• Gets motor parameters

  Every read method starts with myRead...

  • Internal temperature
  • Single and multi turn angle
  • Torque and Phases (A,B,C) current
  • Current speed
  • Error status
  • PID parameters
  • Acceleration parameters

• Can drive motor with multiple control methods

  Every control method starts with myControl...

  • Torque control
  • Speed control
  • Single turn control with or without speed
  • Multi turn control with or without speed
  • Stop and shutdown motor

• Can write parameters

  Every write method starts with myWrite...

  • PID parameters to RAM or ROM
  • Acceleration parameters
  • Encoder zero

• Error checkers

• Check and clear error flags

• Check motor state (runing or stop)

Usage

• Select your canbus in CubeMx (or If u are using CubeIde u can use integraded CubeMx GUI) set it to 1Mbs (Because motor works with 1Mbs)

• Create as many myActuators as you need and myCan object. If ALL of ur motors are in same CanBus line just one MyCan is enough. If u have many CanBuses u can create new ones.

  MyActuator myActuator1;
  MyActuator myActuator2;
  MyCan myCan1;

• Initiliaze CanBus.

  myCan.hcanx = YOUR_CAN_Handle // Like hcan1 for canbus 1
  myInitCanBus(myCan1);

• Then initliaze ur motor and match them with a myCan using myCreateActuator function. U must give motor ID to myActuator struct to communicate with it via Canbus and give it a maxspeed u can change this speed later.

  myCreateActuator(&myActuator1,&myCan1,0x141,500);  // CANID of motor is 0x141 and max speed is 500 degree per second
  myCreateActuator(&myActuator2,&myCan1,0x142,5000); // CANID of motor is 0x142 and max speed is 5000 degree per second

• Now u can use all functions. Try myReadMotorStatus function to read temperature, encoder, current etc.

  myReadMotorStatus(&myActuator1);