Ive tried several times, motor id never succeeds.

Have these code been tested to work before? I am not able to programmatically write or read RAM for parameter address range 0x2000 - 0x2020.

Comming soon

Now I am using M5stack Basic V2.6. The communication uses the mcp2515 module. It keeps restarting after booting. What is the reason?

The log printed by the serial port is as follows:
`
ets Jul 29 2019 12:21:46

rst:0xc (SW_CPU_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT)
configsip: 0, SPIWP:0xee
clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00
mode:DIO, clock div:1
load:0x3fff0030,len:1344
load:0x40078000,len:13964
load:0x40080400,len:3600
entry 0x400805f0
M5Stack initializing...
OK
Entering Configuration Mode Failure...
Guru Meditation Error: Core 1 panic'ed (LoadProhibited). Exception was unhandled.

Core 1 register dump:
PC : 0x400dad0a PS : 0x00060430 A0 : 0x800d2d2b A1 : 0x3ffb2120
A2 : 0xffffffff A3 : 0x00000000 A4 : 0x98968000 A5 : 0x00000001
A6 : 0xffffffff A7 : 0x00000000 A8 : 0x000000ff A9 : 0x00040000
A10 : 0x00000007 A11 : 0xff000000 A12 : 0x00000015 A13 : 0x00000000
A14 : 0x00060420 A15 : 0x00000001 SAR : 0x0000000b EXCCAUSE: 0x0000001c
EXCVADDR: 0x98968004 LBEG : 0x40084929 LEND : 0x40084931 LCOUNT : 0x00000027

Backtrace: 0x400dad07:0x3ffb2120 0x400d2d28:0x3ffb2140 0x400d21a6:0x3ffb2160 0x400d2945:0x3ffb2190 0x400d2a8a:0x3ffb21b0 0x400d2ac5:0x3ffb21d0 0x400d8f82:0x3ffb21f0 0x400d9074:0x3ffb2220 0x400d1dac:0x3ffb2240 0x400dbea9:0x3ffb2290

ELF file SHA256: d19d29a71b289377
`

概要

複数モータのバイラテデモで使用したサンプルコードを追加

Describe the bug

When I sent commands from ROS 2 to control the speed, it became apparent that the motor was not behaving correctly. The motor would rotate slightly only when the speed was altered, but when the same speed value was applied, the motor would only oscillate and not rotate.

To reproduce

1. Using this repository, write a bridge for ROS communication to M5Stack.
2. Build this repository into the ROS environment and send speed commands to the motor for speed control.

To resolve

There is a bug in cybergear_bridge.cpp. Originally, send_speed_command should be used to send speed commands, but send_current_command is used, and current values are being sent. Therefore, send_current_command should be replaced with send_speed_command.

System Info

• M5Stack Gray
• CyberGear
• PC (Ubuntu 22.04, ROS 2 Humble)

Guess from decoding the protocol:

1rad/s
ID=0x1200fd7f data=[05, 70, 00, 00, 07, 01, 84, 43]

    pub async fn move_jog_stop(&mut self, motor_id: u8) -> Status {
        self.send_raw_mesage(
            motor_id,
            protocol::WRITE_PARAM,
            &[0x05, 0x70, 0x00, 0x00, 0x07, 0x00, 0x7f, 0xff],
        );

        self.receive_response().await
    }

    /// speed: -30 to 30, rad/s
    pub async fn move_jog(&mut self, motor_id: u8, speed: f32, clockwise: bool) -> Status {
        if speed < 0.05 {
            return self.move_jog_stop(motor_id).await;
        }
        let speed = if clockwise { speed } else { -speed };
        let speed = map_f32_to_u16(speed, -30.0, 30.0);

        let mut data = [0u8; 8];

        // UNDOCUMENTED, guess from reverse engineering
        data[0..2].copy_from_slice(&u16::to_le_bytes(params::RUN_MODE));
        data[4] = 0x07;
        data[5] = 1;
        data[6..8].copy_from_slice(&u16::to_be_bytes(speed));

        self.send_raw_mesage(motor_id, protocol::WRITE_PARAM, &data);

        self.receive_response().await
    }

Ignore the name of my .ino file in the picture below, it is act
ually just the bilateral control example.

I am encountering an error with two methods used in cybergear_can_interface_esp32.cpp, where CAN.packetTxId() and CAN.packet_RxId() do not exist. It asks if it's being mistaken for 'packetId'

I have all of my files up to date, and tried both the arduino-CAN library that Chikuta forked, and Sandeep Mistry's version (both are the same though).

Is this somehow just user error on my part?

Here is the full output if needed.
error.txt

Thank you for the production.
Each Example is not recognized as a sample by the Arduino IDE because it is not in the folder with the same name.
This is not a fatal problem, but it would be appreciated if you could fix it.

M5 Stack 単体でパラメータ調整できるツールが必要

I am attempting to control 6 motors and read their status. I used the cybergear_bilateral.ino for help and expanded the code for 6 motor IDs, they are simply changing velocity (not follow).

My issue is a set number of motors always return null values, when I check their ID its reads 0x28 (not what I assigned).
The motors which behave like this are predictable in a order;
when controlling 6 motors, the 3rd, 4th, 5th return null,
when controlling 5 motors, the 3rd, 4th return null,
when controlling 4 motors, the 3rd, return null, in order of IDs in the vector.
Its never the first few or the last.

Can this be a issue with the library? Have you ever tested with more than 2 motors?

Wait new cybergear

I imported the four libraries. When I try running the example code, I get this error.

Hello,
Will this also support the M5Stack CoreS3 ESP32S3?
https://shop.m5stack.com/products/m5stack-cores3-esp32s3-lotdevelopment-kit
Thanks,
Brian