Are you referring to MiniFFB — LaserWing?
Or here? GitHub - LaserWing/LaserWing-MiniFFB: Printable Components for the LaserWing MiniFFB Forced Feedback Flight Joystick
Yes
Hi guys, I found the Solution for you. I managed to get the motors running and I will share the code with you so don't say Jesus never did anything for you.
It is a little messy I know and just google translate some comments where needed
That being said, here is the code
God bless.
/*
Code by Zeaan.
This code recieves a number 1 - 9 from the serial monitor. Each number is linked to a preset Amp/Torque value that is sent out to the motor.
Basic RMD-X code vir Torque control op A1. Speed control is cod A2.
Vir beheer:
Sien die manual: RMD-X servo motor control protocal V3.8 - onder aan bl. 45. Manual is in crop sprayer folder onder notes.
Torque: waarde is n target current wat die motor haandaf. Torque control is A1 vir buf 0. En die waarde word geskryf op buf 4 en 5.
buf 4 is low byte en buf 5 is high byte. dit saam gee die spoed of torque waarde. hierdie is HEX waardes.
bv buf[4] 0x64 en buf[5] 0x00 is saam Hex 0x0064 en is gelyk aan dec 100. 100 * 0.001A is 1A wat die motor sal probeer haandaf.
Spoed is die selfde konsep maar buf 4 tot 7 word gebruik. buf 4 is die laagste bit en buf 7 die hoogste.
*/
#include <SPI.h> //Library for using SPI Communication
#include <mcp2515.h> //Library for using CAN Communication autowp-mcp2515 by autowp . V1.0.3
struct can_frame canMsg;
MCP2515 mcp2515(10);
int incomingByte = 1; // 1 stop; 2 start;
void setup()
{
while (!Serial);
Serial.begin(115200);
mcp2515.reset();
mcp2515.setBitrate(CAN_1000KBPS,MCP_16MHZ); //set the CAN bus speed to 1 Mbps and the frequency of the crystal oscillator to 16 MHz
mcp2515.setNormalMode();
Serial.print("Setup done\n\n");
}
void printserial(unsigned long ID, unsigned char buf[8]) {
// converts buf[8] to a character string
Serial.print(ID, HEX);
Serial.print(": ");
for (int i = 0; i < 8; i++)
{
Serial.print(buf[i], HEX);
Serial.print(" ");
}
}
void loop()
{
canMsg.can_id = 0x141; // set CAN id
canMsg.can_dlc = 0x08;
if (1 == incomingByte) // Stop and brake the motor
{
canMsg.data[0] = 0x81; // code 81
canMsg.data[1] = 0x00;
canMsg.data[2] = 0x00;
canMsg.data[3] = 0x00;
canMsg.data[4] = 0x00;
canMsg.data[5] = 0x00;
canMsg.data[6] = 0x00;
canMsg.data[7] = 0x00;
Serial.print("Send(1): ");
}
if (2 == incomingByte)
{
canMsg.data[0] = 0xA1; // A2 is Speed command.
canMsg.data[1] = 0x00;
canMsg.data[2] = 0x00;
canMsg.data[3] = 0x00; //64Hex = 100dez = 1Amp for torque control
canMsg.data[4] = 0x64; // speed lowest byte: A0. But we do torque here, not speed control
canMsg.data[5] = 0x00; // speed 2de byte : 86
canMsg.data[6] = 0x00; // speed 3de byte : 01
canMsg.data[7] = 0x00; // speed Highest byte: 00. - Speed command is HEX 000186A0 = dec 100 000 en word gedeel deur 100. so 100000*0.01 = 1000dps.
//dps is "degrees per second per least significant bit"heel meentlik arc degrees. sien skyentific se youtube videos
Serial.print("Send(2): ");
}
if (3 == incomingByte)
{
canMsg.data[0] = 0xA1;
canMsg.data[1] = 0x00;
canMsg.data[2] = 0x00;
canMsg.data[3] = 0x00;
canMsg.data[4] = 0x32; //32Hex = 50dec = 0.5Amp for torque control
canMsg.data[5] = 0x00;
canMsg.data[6] = 0x00;
canMsg.data[7] = 0x00;
Serial.print("Send(3): ");
}
if (4 == incomingByte)
{
canMsg.data[0] = 0xA1; // NOTE is op A1 vir torque control maar die HEX values is 0 daarom kan die motor vrylik draai.
canMsg.data[1] = 0x00;
canMsg.data[2] = 0x00;
canMsg.data[3] = 0x00;
canMsg.data[4] = 0x00; // Torque low byte: 0 - so die motor kan vrylik draai !!!
canMsg.data[5] = 0x00; // Torque high byte: 0
canMsg.data[6] = 0x00;
canMsg.data[7] = 0x00;
Serial.print("Send(4): ");
}
if (5 == incomingByte) // motor reverse @0.5Amp. -50dec = CE FF in hex
{
canMsg.data[0] = 0xA1; // NOTE is op A1 vir torque control maar die HEX values is 0 daarom kan die motor vrylik draai.
canMsg.data[1] = 0x00;
canMsg.data[2] = 0x00;
canMsg.data[3] = 0x00;
canMsg.data[4] = 0xCE; // Torque low byte: 0 - so die motor kan vrylik draai !!!
canMsg.data[5] = 0xFF; // Torque high byte: 0
canMsg.data[6] = 0x00;
canMsg.data[7] = 0x00;
Serial.print("Send(4): ");
}
mcp2515.sendMessage(&canMsg); //send CAN message
printserial(canMsg.can_id, canMsg.data);
Serial.print("\n");
int len = 10;
while ((mcp2515.readMessage(&canMsg) != MCP2515::ERROR_OK))
{
/* check received response CAN */
delay(1);
len--;
if ((len <= 0))
{
break;
}
}
if (len > 0)
{
// came the answer
Serial.print("Recv : ");
printserial(canMsg.can_id, canMsg.data);
Serial.print("\n");
}
else
{
// no answer
Serial.print("Recv : NO ANSWER");
Serial.print("\n");
}
Serial.print("\n");
int pause_3000 = 30;
while (pause_3000)
{
if (Serial.available() > 0)
{
// read the incoming byte:
incomingByte = Serial.read();
incomingByte = incomingByte - 0x30; // "1" -> 1
while (Serial.available() > 0)
{
Serial.read();
}
break;
}
pause_3000--;
delay(100);
}
}
1plus2, Don't throw them in the river yet. See the code I posted, I managed to get the motors running via CAN bus shield and a Arduino Mega. Good Luck.
1 Like
Hello ZKSA, can you also help me i also using the same set up but using RMD x8 Pro actuator instead.
If you need any additional details pls let me know.
Hello 1plus2,
Ive been having the same issues with a steady win version the actuator. Would i be able to chat with you on email about that O drive board?
ThanksMatt
Thanks for posting your code, what can bus shield did you use? Thanks
Hello brother. Have you gotten a hold of your steadywin motor? If so. Could you kindly give me your email so I can further discuss it? I bought GIM 8115-9 actuators that have the same issue.
hey everyone...
I have all of the motors you all are talking about lol and have gotten no where with mine, steadywin nor myactuator versions. I found this post and feel excited to try the code shared here, but I think the bigger issue we all face is interpreting our specific motor drivers can bus commands, correct? This script posted, its can commands are specific to one motor driver, even one version of specific motor.
Anyway, someone also mentioned they'd be interested in "never" used motors? lol Hit me up! But I will press on and try this code and some others I have found, if I make progress I will happily share it here with you. This is the only forum I have found where this discussion has made it this far for this particular type of motor / driver.
Good luck everyone!
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