Important

The mw_dual_motor_torque_ctrl repository is not maintained anymore!

The CAN firmware has been integrated into the udriver_firmware repository and will be maintained there from now on. See the documentation of udriver_firmware for up-to-date installation and usage instructions.

ODRI Motor Board Firmware for CAN Communication

This documentation describes the mw_dual_motor_torque_ctrl firmware for the Open Robot Actuator Motor Boards using comunication via CAN.

This firmware allows torque control of two motors at once using communication via CAN. Use this firmware when you want to connect a TI LaunchPad evaluation board or a BLMC µDriver board via CAN. If you want to communicate via Ethernet, using a Master Board, use the udriver_firmware instead.

This program can be used with the Universal Dual Motor GUI.

Hardware

This project is configured for use with the LAUNCHXL-F28069M microcontroller board and two DRV8305 booster packs.