EPOSx_2wheels

Description

• This program is for communicating and controlling two Maxon Motors (Motor Driver : EPOS4).
• The message is communicated by a text file. So it doesn't depend on ROS1
• Don't load ROS1 environment.

Installation (On "epos_2wheels_txt/" directory)

1. Run $ sudo bash EPOS_INSTALL/install.sh to install EPOSx library.
2. Run $ mkdir build && cd build && cmake .. && make to compile programs.

Usage

Example : $ ./epos_2wheels --yaml_file ../yaml/cfg_EPOS.yaml --wheel_spd_path ../yaml/

Options

• yaml_file : EPOSx configure file.
• wheel_spd_path : Text folder path to communicate to ROS.

How to control?

• Executing epos_2wheels, please run this command on other shell on yaml/directory.

  $ >EPOS0.txt && echo "100" >> EPOS0.txt

• After run this, EPOS0.txt is written "100" and MAXON Motor will spin 100 rpm.

• Please Edit EPOS0.txt and EPOS1.txt to control motors. ROS1 package can edit these automatically.

Caution (Bug)

• Don't load ROS1. If you want to use ROS1 environment, Please use other terminal and load this.

Licence

• Apache2.0