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tmotorsimpletest's Introduction

simple test:

创建简单工作空间

mkdir ~/catkin_ws;cd catkin_ws
mkdir src
cd src
把tmotortest文件夹放到src目录下

编译package

cd ~/catkin_ws
catkin_make
source devel/setup.bash

使能串口

sudo ip link set can0 type can bitrate 1000000
sudo ip link set up can0

运行demo(给电机发送一个正弦位置信号,对电机进行位置环控制)

roscore
rosrun tmotortest rostest1

注意这部分少了一些关于设置电机id的知识,如果有需要再联系我(代码里面使用的电机id是2,默认电机id是1)

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