# SampleProgram **Repository Path**: robstride/sample-program ## Basic Information - **Project Name**: SampleProgram - **Description**: No description available - **Primary Language**: Unknown - **License**: Not specified - **Default Branch**: main - **Homepage**: None - **GVP Project**: No ## Statistics - **Stars**: 1 - **Forks**: 0 - **Created**: 2025-10-31 - **Last Updated**: 2025-12-17 ## Categories & Tags **Categories**: Uncategorized **Tags**: None ## README # RobStride 电机控制库使用说明 / RobStride Motor Control Library README ## 一、项目简介 Project Introduction 本工程为灵足时代 RS01/RobStride 电机 STM32 控制例程，核心为 `RobStride.h`/`RobStride01.cpp` 电机类库，支持灵足私有协议与MIT协议两种控制方式，实现了电机各主流控制模式（使能、失能、位置/速度/电流/运控/MIT模式、参数设置、零点、协议切换等）。 > This project is a STM32 control demo for RS01/RobStride motors from Lingzu Era. The core is the `RobStride.h`/`RobStride01.cpp` motor library, supporting both Lingzu private and MIT protocols, implementing enable/disable, position/speed/current/torque/MIT control, parameter settings, zeroing, and protocol switching. --- ## 二、使用说明 Getting Started - **硬件平台 Hardware Board**：正点原子精英版 STM32F103ZET6 开发板 (Waveshare/ALIENTEK Elite STM32F103ZET6 Board, 实测通过) - `RobStride.h`, `RobStride01.cpp` 添加到项目 - 需包含 `main.h`, `can.h`, `gpio.h` - CAN总线已初始化，波特率与电机设置一致 ### 2. 主循环用法 Main Loop Usage 核心主循环推荐如下结构（建议通过变量`mode`实现控制场景切换，每个`case`对应一种典型功能，具体见 main.c 示例）： ```c uint8_t mode = 0; // 外部赋值，决定当前控制功能 while (1) { switch(mode) { case 0: RobStride_01.Enable_Motor(); break; case 1: RobStride_01.Disenable_Motor(1); break; case 2: RobStride_01.RobStride_Motor_move_control(5, 0, 0, 0.0, 0.0); break; case 3: RobStride_01.RobStride_Motor_Pos_control(2.0, 2); HAL_Delay(5); break; case 4: RobStride_01.RobStride_Motor_Speed_control(3.5, 5.0); HAL_Delay(5); break; case 5: RobStride_01.RobStride_Motor_current_control(1.2); HAL_Delay(5); break; // ... 其他case见main.c // MIT协议专用接口见后面注意事项 default: break; } mode = 23; HAL_Delay(50); } ``` ### 3. CAN 回调函数 CAN Rx Callback CAN数据接收后需调用解析函数： ```c void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) { if(HAL_CAN_GetRxMessage(hcan,CAN_RX_FIFO0,&RXHeader,RxData) == HAL_OK) { if (RXHeader.IDE == CAN_ID_EXT) RobStride_01.RobStride_Motor_Analysis(RxData, RXHeader.ExtId); else RobStride_01.RobStride_Motor_Analysis(RxData, RXHeader.StdId); } } ``` --- ## 三、主要接口说明 Main API List | 功能 | 接口名 / Function Name | 简述 / Description | | ------ | ------------------------------------------------------- | -------------------- | | 使能电机 | `Enable_Motor()` | 进入运行状态 | | 失能电机 | `Disenable_Motor(clear_err)` | 停止运行，`clear_err=1`清错 | | 运控模式 | `RobStride_Motor_move_control(t, angle, speed, kp, kd)` | 力矩/速度/角度复合控制 | | PP位置模式 | `RobStride_Motor_Pos_control(speed, angle)` | 插补位置控制 | | 速度模式 | `RobStride_Motor_Speed_control(speed, limit_cur)` | 恒速控制 | | 电流模式 | `RobStride_Motor_current_control(current)` | 恒流控制 | | 零点设置 | `Set_ZeroPos()` | 设置当前角度为零点 | | 读取参数 | `Get_RobStride_Motor_parameter(addr)` | 读取参数 | | 设置参数 | `Set_RobStride_Motor_parameter(addr, val, mode)` | 设置参数 | | 协议切换 | `RobStride_Motor_MotorModeSet(F_CMD)` | 切换私有/Canopen/MIT协议 | #### MIT协议相关 | 功能 | 接口名 | | ------------ | ------------------------------------------------------------------------------------------------------ | | MIT使能/失能 | `RobStride_Motor_MIT_Enable() / RobStride_Motor_MIT_Disable()` | | MIT综合控制 | `RobStride_Motor_MIT_Control(angle, speed, kp, kd, torque)` | | MIT位置/速度控制 | `RobStride_Motor_MIT_PositionControl(pos, speed)` / `RobStride_Motor_MIT_SpeedControl(speed, cur_lim)` | | MIT清错 | `RobStride_Motor_MIT_ClearOrCheckError(cmd)` | | MIT零点设置 | `RobStride_Motor_MIT_SetZeroPos()` | | MIT设置ID/运行模式 | `RobStride_Motor_MIT_SetMotorId(id)` / `RobStride_Motor_MIT_SetMotorType(type)` | | MIT协议切换 | `RobStride_Motor_MIT_MotorModeSet(type)` | --- ## 四、注意事项 Important Notes - **协议切换**：如需切换协议，请首先通过 `RobStride_Motor_MotorModeSet(0x**)` 或 `RobStride_Motor_MIT_MotorModeSet(0x**)` 进行协议切换，并断电重启电机，方可使用。 - **MIT接口仅在 MIT 协议下有效**，普通模式下禁止误用。 - **标准帧 CAN ID 范围为 0x00\~0x7F**，建议不超过此范围。 - **参数地址与说明请参考 RS01 电机说明书**。 - 本库中所有 `Enable_Motor`/`Disenable_Motor` 接口均能自动兼容当前协议，但请优先按协议规范分别调用 MIT/私有接口，避免新手混淆。 - 控制参数如角度单位为弧度，速度单位为 rad/s，电流单位为 A。 --- ## 五、常见问题 FAQ - **Q：PP位置模式电机使能但不转？**\ A：务必调用 `RobStride_Motor_Pos_control(speed, angle)` 前设置合适的目标速度（如 2\~5 rad/s），并检查速度参数是否通过 `0x7018` 写入。延时设置亦需充分。 - **Q：MIT接口下ID发错？**\ A：请保证 CAN\_ID 不高于 0x7F，若出现 0x47F 这类问题请检查 ID 赋值与掩码（详见代码实现）。 - **Q：电机无响应？**\ A：请检查 CAN 硬件连通性、波特率、电源，及主控和电机 ID/协议是否一致。 --- ## 六、参考资料 Reference - 《RS01电机通信协议说明书》 - 本库源码及 main.c 示例 --- ## 七、联系方式 Contact 如有问题欢迎联系作者或灵足时代技术支持。 --- # RobStride Motor Control Library README ## 1. Project Introduction This project provides a STM32 (HAL) control demo for the Lingzu Era RS01/RobStride motors, based on the `RobStride.h`/`RobStride01.cpp` motor library. It supports both Lingzu private and MIT protocols, enabling all major control modes (enable, disable, position/speed/current/torque/MIT mode, parameter setting, zeroing, protocol switching, etc.). --- ## 2. Getting Started - **Hardware Board:** ALIENTEK (Waveshare) Elite STM32F103ZET6 Development Board (tested stable) - Project requires STM32CubeMX/Keil or any STM32 HAL-based project - Add `RobStride.h` and `RobStride01.cpp` to your project - Include `main.h`, `can.h`, `gpio.h` - CAN bus must be initialized and the baud rate must match the motor setting ### Main Loop Example It is recommended to use a variable `mode` to switch between different control functions. Each `case` corresponds to a typical function. For details, see the example `main.c`. ```c uint8_t mode = 0; // Set by external input, determines the current function while (1) { switch(mode) { case 0: RobStride_01.Enable_Motor(); break; case 1: RobStride_01.Disenable_Motor(1); break; case 2: RobStride_01.RobStride_Motor_move_control(5, 0, 0, 0.0, 0.0); break; case 3: RobStride_01.RobStride_Motor_Pos_control(2.0, 2); HAL_Delay(5); break; case 4: RobStride_01.RobStride_Motor_Speed_control(3.5, 5.0); HAL_Delay(5); break; case 5: RobStride_01.RobStride_Motor_current_control(1.2); HAL_Delay(5); break; // ... see main.c for more cases // MIT protocol dedicated APIs see below default: break; } HAL_Delay(50); } ``` ### CAN Rx Callback Example After receiving CAN data, call the analysis function: ```c void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) { if(HAL_CAN_GetRxMessage(hcan,CAN_RX_FIFO0,&RXHeader,RxData) == HAL_OK) { if (RXHeader.IDE == CAN_ID_EXT) RobStride_01.RobStride_Motor_Analysis(RxData, RXHeader.ExtId); else RobStride_01.RobStride_Motor_Analysis(RxData, RXHeader.StdId); } } ``` --- ## 3. Main API List | Feature | Function Name | Description | | ---------------- | ------------------------------------------------------- | ------------------------------------- | | Enable motor | `Enable_Motor()` | Enable motor, enter running state | | Disable motor | `Disenable_Motor(clear_err)` | Disable, `clear_err=1` to clear error | | Torque control | `RobStride_Motor_move_control(t, angle, speed, kp, kd)` | Torque/Speed/Angle composite | | PP Position Mode | `RobStride_Motor_Pos_control(speed, angle)` | Position interpolation mode | | Speed Mode | `RobStride_Motor_Speed_control(speed, limit_cur)` | Constant speed control | | Current Mode | `RobStride_Motor_current_control(current)` | Constant current control | | Zeroing | `Set_ZeroPos()` | Set current angle as zero | | Parameter read | `Get_RobStride_Motor_parameter(addr)` | Read parameter | | Parameter write | `Set_RobStride_Motor_parameter(addr, val, mode)` | Write parameter | | Protocol switch | `RobStride_Motor_MotorModeSet(F_CMD)` | Switch to private/Canopen/MIT | **MIT Protocol Specific** | Feature | Function Name | | --------------------- | ------------------------------------------------------------ | | MIT Enable/Disable | `RobStride_Motor_MIT_Enable()` / `RobStride_Motor_MIT_Disable()` | | MIT Composite Control | `RobStride_Motor_MIT_Control(angle, speed, kp, kd, torque)` | | MIT Pos/Speed Control | `RobStride_Motor_MIT_PositionControl(pos, speed)` / `RobStride_Motor_MIT_SpeedControl(speed, cur_lim)` | | MIT Error Clear | `RobStride_Motor_MIT_ClearOrCheckError(cmd)` | | MIT Zeroing | `RobStride_Motor_MIT_SetZeroPos()` | | MIT ID/Mode Set | `RobStride_Motor_MIT_SetMotorId(id)` / `RobStride_Motor_MIT_SetMotorType(type)` | | MIT Protocol Switch | `RobStride_Motor_MIT_MotorModeSet(type)` | --- ## 4. Important Notes - **Protocol switching:** To switch protocol, first use `RobStride_Motor_MotorModeSet(0x**)` or `RobStride_Motor_MIT_MotorModeSet(0x**)`, then power-cycle (reboot) the motor before using new protocol-related functions. - **Standard CAN frame ID range is 0x00\~0x7F**; do not exceed this range. - **Parameter addresses and details are subject to the RS01 motor protocol manual.** - All `Enable_Motor`/`Disenable_Motor` functions auto-adapt to protocol but you should use the appropriate APIs as per protocol when possible. - Control parameters: angle in radians, speed in rad/s, current in Amps. --- ## 5. FAQ - **Q: PP position mode enabled but no movement?**\ A: Make sure to set an appropriate target speed (e.g. 2\~5 rad/s) with `RobStride_Motor_Pos_control`, and check if speed is set via `0x7018`. Use sufficient delays after mode switching. - **Q: Wrong CAN ID in MIT commands?**\ A: Make sure `CAN_ID` does not exceed 0x7F; if you see IDs like 0x47F, check your ID assignment and masking in code. - **Q: No response from motor?**\ A: Check CAN bus wiring, baudrate, power supply, and make sure the master and motor IDs/protocol match. --- ## 6. References - RS01 Motor Protocol Manual - This library source code and main.c example --- ## 7. Contact For support, contact the author or RobStride technical support. ---