105 lines
2.6 KiB
Markdown
105 lines
2.6 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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- CMake 3.22+
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- C++17 compiler
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### 1. 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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setup/configure_socketcan.sh can0
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# CAN-FD with 5Mbps data rate
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setup/configure_socketcan.sh can0 -fd
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```
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### 2. C++ Library
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**Build & Install:**
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```bash
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cd openarm_can
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cmake -S . -B build -DCMAKE_BUILD_TYPE=Release
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cmake --build build
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sudo cmake --install build
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```
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**Usage:**
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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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### 3. 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 build and install the C++ library first, as described above.
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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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## 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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