RobStride Control

High-performance motor control library for RobStride motors with implementations in Python, C++, Rust, and Arduino.

Quick Start

# Environment setup
sudo apt-get install can-utils
sudo ip link set can0 type can bitrate 1000000
sudo ip link set up can0

# Python
cd python && pip install -r requirements.txt
python3 src/position_control.py 11

# C++
cd cpp && make && sudo ./build/robstride-mit-position 11

# Rust
cd rust && cargo run --release -- 11

# Arduino
# Open Arduino IDE, load arduino/simple_joint_control/simple_joint_control.ino
# Select ESP32 Dev Module and upload

Languages

Language	Control Frequency	Latency	Memory Usage	Platform
Python	100 Hz	5ms	50MB	Linux
C++	200 Hz	1ms	10MB	Linux
Rust	150 Hz	2ms	15MB	Linux
Arduino	50-200Hz	2-20ms	10-50KB	ESP32/MCU

Project Structure

├── python/          # Python implementation
├── cpp/             # C++ implementation
├── rust/            # Rust implementation
├── arduino/         # Arduino implementation
└── scripts/         # Build and setup scripts

Supported Motors

• RS-00: 17 Nm, 50 rad/s
• RS-01: 17 Nm, 44 rad/s
• RS-02: 17 Nm, 44 rad/s
• RS-03: 60 Nm, 50 rad/s
• RS-04: 120 Nm, 15 rad/s
• RS-05: 17 Nm, 33 rad/s
• RS-06: 60 Nm, 20 rad/s

Documentation

• 中文文档
• Español
• Python
• C++
• Rust
• Arduino

Examples

Python

from src.position_control import PositionControllerMIT
controller = PositionControllerMIT(11)
controller.connect()
controller.set_angle(90.0)

C++

CanInterface can;
can.init("can0");
enable_motor(can.socket(), 11);
write_operation_frame(can.socket(), 11, M_PI/2, 30.0, 0.5);

Rust

let socket = Arc::new(Mutex::new(CanSocket::open("can0")?));
enable_motor(&socket, 11)?;
write_operation_frame(&socket.lock()?, 11, std::f64::consts::PI/2.0, 30.0, 0.5)?;

Arduino

TWAI_CAN_MI_Motor motor(11);
motor.init(CAN_SPEED_1000KBPS);
motor.enable_motor();
motor.send_mit_command(PI/2, 30.0, 0.5);

License

MIT License - see LICENSE file

Support

• Issues: https://github.com/tianrking/robstride-control/issues