Stepper_driver¶
This package handles stepper motors communication.
Stepper driver node¶
- The ROS Node is made to:
- Send commands to stepper motors.
- Receive stepper motors data.
Parameters - stepper driver¶
| Name | Description |
|---|---|
can_hardware_control_loop_frequency |
Controls loop frequency.
Default: ‘1500.0’
|
can_hw_write_frequency |
Writes frequency.
Default: ‘50.0’
|
can_hw_check_connection_frequency |
Checks steppers connection frequency.
Default: ‘2.0’
|
stepper_motor_id_list |
List of steppers ID
Default: ‘[1,2,3]’
|
Dependencies - stepper driver¶
Services & messages files - stepper driver¶
StepperMotorHardwareStatus (Message)¶
niryo_robot_msgs/MotorHeader motor_identity
string firmware_version
int32 temperature
int32 voltage
int32 error
StepperMotorCommand (Message)¶
uint8 cmd_type
uint8 CMD_TYPE_POSITION=1
uint8 CMD_TYPE_VELOCITY=2
uint8 CMD_TYPE_EFFORT=3
uint8 CMD_TYPE_TORQUE=4
uint8[] motors_id
int32[] params
StepperArrayMotorHardwareStatus (Message)¶
std_msgs/Header header
stepper_driver/StepperMotorHardwareStatus[] motors_hw_status