151 lines
4.1 KiB
Markdown
151 lines
4.1 KiB
Markdown
# OpenArm CAN Library
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A C++ library for CAN communication with OpenArm robotic hardware, supporting Damiao motors over CAN/CAN-FD interfaces.
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This library is a part of [OpenArm](https://github.com/enactic/openarm/). See detailed setup guide and docs [here](https://docs.openarm.dev/software/can).
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## Quick Start
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### Prerequisites
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- Linux with SocketCAN support
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- CAN interface hardware
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### 1. Install
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#### Ubuntu
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* 22.04 Jammy Jellyfish
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* 24.04 Noble Numbat
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```bash
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sudo apt install -y software-properties-common
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sudo add-apt-repository -y ppa:openarm/main
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sudo apt update
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sudo apt install -y \
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libopenarm-can-dev \
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openarm-can-utils
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```
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#### AlmaLinux, CentOS, Fedora, RHEL, and Rocky Linux
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1. Enable [EPEL](https://docs.fedoraproject.org/en-US/epel/). (Not required for [Fedora](https://fedoraproject.org/))
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* AlmaLinux 8 / Rocky Linux 8
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```bash
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sudo dnf install -y epel-release
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sudo dnf config-manager --set-enabled powertools
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```
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* AlmaLinux 9 & 10 / Rocky Linux 9 & 10
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```bash
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sudo dnf install -y epel-release
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sudo crb enable
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```
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* CentOS Stream 9
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```bash
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sudo dnf config-manager --set-enabled crb
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sudo dnf install -y https://dl.fedoraproject.org/pub/epel/epel{,-next}-release-latest-9.noarch.rpm
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```
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* CentOS Stream 10
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```bash
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sudo dnf config-manager --set-enabled crb
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sudo dnf install -y https://dl.fedoraproject.org/pub/epel/epel-release-latest-10.noarch.rpm
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```
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* RHEL 8 & 9 & 10
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```bash
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releasever="$(. /etc/os-release && echo $VERSION_ID | grep -oE '^[0-9]+')"
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sudo subscription-manager repos --enable codeready-builder-for-rhel-$releasever-$(arch)-rpms
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sudo dnf install -y https://dl.fedoraproject.org/pub/epel/epel-release-latest-$releasever.noarch.rpm
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```
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2. Install the package.
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```bash
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sudo dnf update
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sudo dnf install -y \
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openarm-can-devel \
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openarm-can-utils
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```
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### 2. Setup CAN Interface
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Configure your CAN interface using the provided script:
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```bash
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# CAN 2.0 (default)
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/usr/libexec/openarm-can/configure_socketcan.sh can0
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# CAN-FD with 5Mbps data rate
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/usr/libexec/openarm-can/configure_socketcan.sh can0 -fd
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```
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### 3. C++ Library
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```cpp
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#include <openarm/can/socket/openarm.hpp>
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#include <openarm/damiao_motor/dm_motor_constants.hpp>
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openarm::can::socket::OpenArm arm("can0", true); // CAN-FD enabled
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std::vector<openarm::damiao_motor::MotorType> motor_types = {
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openarm::damiao_motor::MotorType::DM4310, openarm::damiao_motor::MotorType::DM4310};
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std::vector<uint32_t> send_can_ids = {0x01, 0x02};
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std::vector<uint32_t> recv_can_ids = {0x11, 0x12};
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openarm.init_arm_motors(motor_types, send_can_ids, recv_can_ids);
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openarm.enable_all();
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```
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See [dev/README.md](dev/README.md) for how to build.
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### 4. Python (🚧 EXPERIMENTAL - TEMPORARY 🚧)
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> ⚠️ **WARNING: UNSTABLE API** ⚠️
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> Python bindings are currently a direct low level **temporary port**, and will change **DRASTICALLY**.
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> The interface is may break between versions.Use at your own risk! Discussions on the interface are welcomed.
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**Build & Install:**
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Please ensure that you install the C++ library first, as `1. Install` or [dev/README.md](dev/README.md).
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```bash
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cd python
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# Create and activate virtual environment (recommended)
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python -m venv venv
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source venv/bin/activate
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./build.sh
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```
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**Usage:**
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```python
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# WARNING: This API is unstable and will change!
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import openarm_can as oa
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arm = oa.OpenArm("can0", True) # CAN-FD enabled
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arm.init_arm_motors([oa.MotorType.DM4310], [0x01], [0x11])
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arm.enable_all()
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```
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### Examples
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- **C++**: `examples/demo.cpp` - Complete arm control demo
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- **Python**: `python/examples/example.py` - Basic Python usage
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## For developers
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See [dev/README.md](dev/README.md).
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## Related links
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- 📚 Read the [documentation](https://docs.openarm.dev/software/can/)
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- 💬 Join the community on [Discord](https://discord.gg/FsZaZ4z3We)
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- 📬 Contact us through <openarm@enactic.ai>
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## License
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Licensed under the Apache License 2.0. See `LICENSE.txt` for details.
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Copyright 2025 Enactic, Inc.
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## Code of Conduct
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All participation in the OpenArm project is governed by our [Code of Conduct](CODE_OF_CONDUCT.md).
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