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CYBERGEAR电机控制代码

1. 硬件

• 树莓派5
• 微雪RS485 CAN HAT
• CYBERGEAR小米电机 -- 电机参数：功率160w

2. 依赖

2.1 创建虚拟环境

python -m venv cybergear
source ~/cybergear/bin/activate
pip install python-can numpy

2.2 微雪RS485 CAN HAT

wget https://github.com/joan2937/lg/archive/master.zip
unzip master.zip
cd lg-master
sudo make install 
sudo nano /boot/firmware/config.txt

将下面的代码复制到config.txt最后，ctrl+o写入，ctrl+x 退出。

dtparam=spi=on
dtoverlay=mcp2515-can0,oscillator=12000000,interrupt=25,spimaxfrequency=2000000

CAN通讯详情配置请参微雪RS485 CAN HAT

2.3 克隆仓库

git clone https://github.com/imanwxx/cybergear.git
cd cybergear
python cybergear.py

目前实现的效果有修改电机id（需要在上电但未使能电机的情况下修改id）、使能电机、失能电机、位置控制、位置插值控制、力矩控制、阻尼模式、设置零位、监听电机数据（角度、角速度、力矩、温度）。

English-version

CYBERGEAR Motor Control Code

1. Hardware

• Raspberry Pi 5
• Waveshare RS485 CAN HAT
• CYBERGEAR Xiaomi Motor

2. Dependencies

2.1 Create Virtual Environment

python -m venv cybergear
source ~/cybergear/bin/activate
pip install python-can numpy

2.2 Waveshare RS485 CAN HAT

wget https://github.com/joan2937/lg/archive/master.zip
unzip master.zip
cd lg-master
sudo make install 
sudo nano /boot/firmware/config.txt

Add the following code to the end of config.txt, then press ctrl+o to save and ctrl+x to exit:

dtparam=spi=on
dtoverlay=mcp2515-can0,oscillator=12000000,interrupt=25,spimaxfrequency=2000000

Refer to Waveshare RS485 CAN HAT for detailed CAN communication configuration.

2.3 Clone Repository

git clone https://github.com/imanwxx/cybergear.git
cd cybergear
python cybergear.py

Current functionality includes: motor enable/disable, position control, position interpolation control, torque control, damping mode, zero position setting, and real-time monitoring of motor data (angle, angular velocity, torque, temperature).