After working with the Robstride motors for quite some time now, I determined it would be best to make it easier for everyone to use. This git combines knowledge from Brian Smith's already existing Rostride Python SDK as well as from Feather Robotics Inc. Feather Robotics (https://feather.dev/) develops and manufactures general-purpose robots that are viable for entrepreneurs to build a company around.
In order to make use of this repo, one would need access to a Robstride Motor (O1, O2, O3 or O4), and a CAN transciever capable of utilizing socketcan.
Robstride Motor Link: https://robstride.com/
Recommended Debugger Purchase Link (Choose Isolated Version): https://a.aliexpress.com/_mMUzKlH
Power supply (I am using 40V battery)
The connections can be found in the robstride manuals, but power from the battery goes to power the motor, and the ground is shared from the battery to the motor and the can transciever. The Can high and low cables are also connected to the motor as shown in the manual.
Create a 'virtual enviornment'
python3.10 -m venv Robstride
Activate the Virtual Enviornment
source Robstride/bin/activate
Install Brian Smith's SDK:
The simplest way to install is via pip:
python3 -m pip install robstride
Then to setup the can controller run: (This must be run everytime reconnecting to the motor)
sudo ip link set can0 type can bitrate 1000000
Then
sudo ip link set can0 up
I have attached some basic code to this repo. In this repo you will find a
findangle.py
This code allows you to find the motor angles that you may want your robot joint to rotate to.
Rotateangles.py
This code allows you to rotate one or more motors to set positions one after another.
simultaneous.py
This last code example allows you to move multiple motors at the same time.
If you have any questions whatsoever feel free to mention me in the robstride discord or reach out to me by email at ailuroxrobotics@gmail.com