Configure_MJBOTS_Driver

Introduction

This repository provide a bash script to execute the basic operation to use a MJBOTS Driver, the features provided are:

1. Flash the Driver Firmware
2. Set up the Driver configuration file
3. Calibrate the driver
4. Get Information about each driver
5. Set Python Interpreter
6. Set Transport Pi3Hat

Firmware Version and Configuration File

The repo provide two folders contain the available option to both flash and set up the driver. The Firmware_version folder must contain a folder with the id of the firmware version, for example the realase data. The subfolder must contains the firmware elf file. The Configuration_FIle folder contains the different configuration file. Each of them must contain the list of conf set command to set up a desired dirver paramters list and the conf write at the end if this parameter should be reload at dirver switch on.

Usage

Open a terminal in the repository's folder and call the bash script sudo bash configure_MJBOTS_driver.sh [- opt arg]. the options are:

• targets option is necessary to choose the targets of the disired operation, the option is -t followed by the list of ids delimited by ','. For example if the target motor have ids 1,2,3 the option syntax is -t 1,2,3
• transport option is necessary to choose the bus and the connected driver id of the disired operation, the option is -p followed by the list the list of channel sperated by ";", each channel is -bus_id-=-list of id separeted by ','- . For example if the bus are 1 and 2 are connect with motors having respectively ids 1,2,3 and 4,5,6 the option syntax is -p 1=1,2,3;2=4,5,6
• Flash option is enable by using the option -f without arguments and will schedule the flashing process into the script. The user can choose the desired version between the provided ones
• Configuration option is enable by using the option -s without arguments, it will schedule the configuretion process into the script.The user can choose the desired configuration file between the provided ones
• Calibration option is enable by using the option -c without arguments and will schedule the calibration process into the script.
• Info option is enable by using the option -i without arguments and will schedule the calibration process into the script.
• Python Interpreter version can be set by using the option -v following by the intepreter global path. NB for internal the Mulinex Raspberry are setted up with the correct python intepreter in the folder "../mul_env/bin/python3"

Example

Info Request to motor with Pi3hat on channel

sudo bash configure_MJBOTS_driver.sh -t <-motor id-> -p "<-pi3hat-bus->=<-motor id->" -v ../mul_env/bin/python3 -i

For instance, if we want to send info request to a kinematic chain composed by 3 motor, with id 4,5 and 6, connected to the bus 1 then the command is:

sudo bash configure_MJBOTS_driver.sh -t 4,5,6 -p "1=4,5,6" -v ../mul_env/bin/python3 -i

if we immagine to add another 2 motor kinematic chain, with id 8,9, to the bus 2:

sudo bash configure_MJBOTS_driver.sh -t 4,5,6,8,9 -p "1=4,5,6;2=8,9" -v ../mul_env/bin/python3 -i

MJBOT driver complete set up

sudo bash configure_MJBOTS_driver.sh -t <-motor id-> -p "<-pi3hat-bus->=<-motor id->" -v ../mul_env/bin/python3 -c -s -f

For instance, if we want to send info request to a kinematic chain composed by 3 motor, with id 4,5 and 6, connected to the bus 1 then the command is:

sudo bash configure_MJBOTS_driver.sh -t 4,5,6 -p "1=4,5,6" -v ../mul_env/bin/python3 -c -s -f

if we immagine to add another 2 motor kinematic chain, with id 8,9, to the bus 2:

sudo bash configure_MJBOTS_driver.sh -t 4,5,6,8,9 -p "1=4,5,6;2=8,9" -v ../mul_env/bin/python3 -c -s -f