RMD X8 motor driver with RS485 serial

QUICK START

After clone the repo into your computer, directly cd to the downloaded repo folder. And running the following command in the terminal.

mkdir build
cd build
cmake ..
make
sudo ./motorTest

Then it will require you to input your password. If the password is correct, the program will be successfully executed.

Notice

You might find the command buffer message in the termianl, it is just for the debugging. You could comment it out from the code. Also you might find some message like "serial read failed", it is because the control frequency is too high for the current hardware. This is also the problem I encountered and it need to be resolved as soon as possible.

Motor Information Plot

• Firstly cd to the directory of the build that stores the save_data_rt.txt file

• Secondly type the gnuplot to visualize these collected data

• Each column stores one specific type of data for different timestamp, eg. plot "save_data_rt.txt" u 2 with line

• Data type

  Type	Column Number
  Sequence	0
  Communication TIme	1
  Time Variation of Communication	2
  Control Time	3
  Error	4
  Position difference	5
  Velocity	6
  Torque	7
  Target	8