Wrapper for the "C++ API for Moteus BLDC controller" for Embedded Coder Target for Linux

• Author: Loi Do, doloi@fel.cvut.cz

This is a wrapper for the API https://github.com/sinaaghli/moteusapi (see information below) so the API can be used with the ERT Library https://github.com/aa4cc/ert_linux. The ERT library allows to generate a code from a Simulink block diagram that runs in real-time on Linux machine.

The Moteus API is included into the Simulink diagram through a System Objects block https://www.mathworks.com/help/matlab/system-objects.html.

• In the folder ./moteusapi/, there are three additional files (compared to the original repository):

  • MoteusAPI_ERT.cpp
  • MoteusAPI_ERT.h
  • rtwtypes.h

  The first two files extend (wraps) the Moteus API with function that are called in the Simulink block diagram. The third file allows using Matlab data types.

Application

Our application of this wrapper is to have the Moteus driver connected to a microcomputer with Linux OS (e.g. Raspberry Pi) while the (feedback) control is designed in Matlab/Simulink running on a desktop Linux machine.

Moteus API

• First, follow the instructions for the C++ API and make sure, that the API is working.

• Build and try the examples in the folder examples_MoteusAPI_ERT.

  • The project can be build by the same commands as the original C++ API:

      > cd build
      > cmake ..
      > make
    

  • To run one of the examples:

      > sudo ./examples_MoteusAPI_ERT/main_torqueSet_test
    

ERT Linux

• Follow the instructions at https://github.com/aa4cc/ert_linux and https://gitlab.fel.cvut.cz/aa4cc/how-to/how-to-use-ert-linux-package

Combining the libraries

• Copy the folder into the Matlab path.

  • Important note: do not include the file rtwtypes.h. The header file is in the folder only for the examples. Matlab has its own rtwtypes.h in a path.

• Write a m-file for the System Objects block.

C++ API for Moteus BLDC controller through fdcanusb

• Author: https://github.com/sinaaghli/

This is a c++ API to communicate with MJBOT's Moteus brushless dc motor driver through fdcanusb connected to a Mac or Linux PC.

To try the API without system wide installation?

Compile and run the examples at example_internal folder

to compile try

> cd build
> cmake ..
> make
> sudo ./example_internal/positioncmd

Compile and install in your system

You can install moteusapi on your system and then have a copy of the folder example_external somewhere on your system. running cmake on example_external would be able to find the library on your system.

first compile and install

> cd build
> cmake ..
> make install 

then compile example_external

> cp -r moteusapi/example_external /your/code/folder/
> cd /your/code/folder/example_external
> mkdir build
> cd build
> cmake ..
> make
> sudo ./positioncmd

Uninstall library:

> make uninstall

How to use the library (as dependency) in an external project?

here is a snippet for your cmake project,

> cmake_minimum_required(VERSION 3.0)
> project(foo)
> find_package(MoteusAPI REQUIRED)
> include_directories(${MOTEUSAPI_INCLUDE_DIRS})
> add_executable(foo foo.cpp)
> target_link_libraries(foo ${MOTEUSAPI_LIBRARIES})

See the example of external project.

LICENSE

All files contained in this repository, unless otherwise noted, are available under an Apache 2.0 License: https://www.apache.org/licenses/LICENSE-2.0