RobStride 电机控制库使用说明 / RobStride Motor Control Library README

一、项目简介 Project Introduction

本工程为灵足时代 RS01/RobStride 电机 STM32 控制例程，核心为 RobStride.h/RobStride01.cpp 电机类库，支持灵足私有协议与MIT协议两种控制方式，实现了电机各主流控制模式（使能、失能、位置/速度/电流/运控/MIT模式、参数设置、零点、协议切换等）。

This project is a STM32 control demo for RS01/RobStride motors from Lingzu Era. The core is the RobStride.h/RobStride01.cpp motor library, supporting both Lingzu private and MIT protocols, implementing enable/disable, position/speed/current/torque/MIT control, parameter settings, zeroing, and protocol switching.

二、使用说明 Getting Started

硬件平台 Hardware Board：正点原子精英版 STM32F103ZET6 开发板 (Waveshare/ALIENTEK Elite STM32F103ZET6 Board, 实测通过)
RobStride.h, RobStride01.cpp 添加到项目
需包含 main.h, can.h, gpio.h
CAN总线已初始化，波特率与电机设置一致

2. 主循环用法 Main Loop Usage

核心主循环推荐如下结构（建议通过变量mode实现控制场景切换，每个case对应一种典型功能，具体见 main.c 示例）：

uint8_t mode = 0; // 外部赋值，决定当前控制功能

while (1) {
    switch(mode) {
        case 0: RobStride_01.Enable_Motor(); break;
        case 1: RobStride_01.Disenable_Motor(1); break;
        case 2: RobStride_01.RobStride_Motor_move_control(5, 0, 0, 0.0, 0.0); break;
        case 3: RobStride_01.RobStride_Motor_Pos_control(2.0, 2); HAL_Delay(5); break;
        case 4: RobStride_01.RobStride_Motor_Speed_control(3.5, 5.0); HAL_Delay(5); break;
        case 5: RobStride_01.RobStride_Motor_current_control(1.2); HAL_Delay(5); break;
        // ... 其他case见main.c
        // MIT协议专用接口见后面注意事项
        default: break;
    }
    mode = 23;
    HAL_Delay(50);
}

3. CAN 回调函数 CAN Rx Callback

CAN数据接收后需调用解析函数：

void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
    if(HAL_CAN_GetRxMessage(hcan,CAN_RX_FIFO0,&RXHeader,RxData) == HAL_OK) {
        if (RXHeader.IDE == CAN_ID_EXT)
            RobStride_01.RobStride_Motor_Analysis(RxData, RXHeader.ExtId);
        else
            RobStride_01.RobStride_Motor_Analysis(RxData, RXHeader.StdId);
    }
}

三、主要接口说明 Main API List

功能	接口名 / Function Name	简述 / Description
使能电机	`Enable_Motor()`	进入运行状态
失能电机	`Disenable_Motor(clear_err)`	停止运行，`clear_err=1`清错
运控模式	`RobStride_Motor_move_control(t, angle, speed, kp, kd)`	力矩/速度/角度复合控制
PP位置模式	`RobStride_Motor_Pos_control(speed, angle)`	插补位置控制
速度模式	`RobStride_Motor_Speed_control(speed, limit_cur)`	恒速控制
电流模式	`RobStride_Motor_current_control(current)`	恒流控制
零点设置	`Set_ZeroPos()`	设置当前角度为零点
读取参数	`Get_RobStride_Motor_parameter(addr)`	读取参数
设置参数	`Set_RobStride_Motor_parameter(addr, val, mode)`	设置参数
协议切换	`RobStride_Motor_MotorModeSet(F_CMD)`	切换私有/Canopen/MIT协议

MIT协议相关

功能	接口名
MIT使能/失能	`RobStride_Motor_MIT_Enable() / RobStride_Motor_MIT_Disable()`
MIT综合控制	`RobStride_Motor_MIT_Control(angle, speed, kp, kd, torque)`
MIT位置/速度控制	`RobStride_Motor_MIT_PositionControl(pos, speed)` / `RobStride_Motor_MIT_SpeedControl(speed, cur_lim)`
MIT清错	`RobStride_Motor_MIT_ClearOrCheckError(cmd)`
MIT零点设置	`RobStride_Motor_MIT_SetZeroPos()`
MIT设置ID/运行模式	`RobStride_Motor_MIT_SetMotorId(id)` / `RobStride_Motor_MIT_SetMotorType(type)`
MIT协议切换	`RobStride_Motor_MIT_MotorModeSet(type)`

四、注意事项 Important Notes

协议切换：如需切换协议，请首先通过 RobStride_Motor_MotorModeSet(0x**) 或 RobStride_Motor_MIT_MotorModeSet(0x**) 进行协议切换，并断电重启电机，方可使用。
MIT接口仅在 MIT 协议下有效，普通模式下禁止误用。
标准帧 CAN ID 范围为 0x00~0x7F，建议不超过此范围。
参数地址与说明请参考 RS01 电机说明书。
本库中所有 Enable_Motor/Disenable_Motor 接口均能自动兼容当前协议，但请优先按协议规范分别调用 MIT/私有接口，避免新手混淆。
控制参数如角度单位为弧度，速度单位为 rad/s，电流单位为 A。

五、常见问题 FAQ

Q：PP位置模式电机使能但不转？
A：务必调用 RobStride_Motor_Pos_control(speed, angle) 前设置合适的目标速度（如 2~5 rad/s），并检查速度参数是否通过 0x7018 写入。延时设置亦需充分。
Q：MIT接口下ID发错？
A：请保证 CAN_ID 不高于 0x7F，若出现 0x47F 这类问题请检查 ID 赋值与掩码（详见代码实现）。
Q：电机无响应？
A：请检查 CAN 硬件连通性、波特率、电源，及主控和电机 ID/协议是否一致。

六、参考资料 Reference

《RS01电机通信协议说明书》
本库源码及 main.c 示例

七、联系方式 Contact

如有问题欢迎联系作者或灵足时代技术支持。

RobStride Motor Control Library README

1. Project Introduction

This project provides a STM32 (HAL) control demo for the Lingzu Era RS01/RobStride motors, based on the RobStride.h/RobStride01.cpp motor library. It supports both Lingzu private and MIT protocols, enabling all major control modes (enable, disable, position/speed/current/torque/MIT mode, parameter setting, zeroing, protocol switching, etc.).

2. Getting Started

Hardware Board: ALIENTEK (Waveshare) Elite STM32F103ZET6 Development Board (tested stable)
Project requires STM32CubeMX/Keil or any STM32 HAL-based project
Add RobStride.h and RobStride01.cpp to your project
Include main.h, can.h, gpio.h
CAN bus must be initialized and the baud rate must match the motor setting

Main Loop Example

It is recommended to use a variable mode to switch between different control functions. Each case corresponds to a typical function. For details, see the example main.c.

uint8_t mode = 0; // Set by external input, determines the current function
while (1) {
    switch(mode) {
        case 0: RobStride_01.Enable_Motor(); break;
        case 1: RobStride_01.Disenable_Motor(1); break;
        case 2: RobStride_01.RobStride_Motor_move_control(5, 0, 0, 0.0, 0.0); break;
        case 3: RobStride_01.RobStride_Motor_Pos_control(2.0, 2); HAL_Delay(5); break;
        case 4: RobStride_01.RobStride_Motor_Speed_control(3.5, 5.0); HAL_Delay(5); break;
        case 5: RobStride_01.RobStride_Motor_current_control(1.2); HAL_Delay(5); break;
        // ... see main.c for more cases
        // MIT protocol dedicated APIs see below
        default: break;
    }
    HAL_Delay(50);
}

CAN Rx Callback Example

After receiving CAN data, call the analysis function:

void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
    if(HAL_CAN_GetRxMessage(hcan,CAN_RX_FIFO0,&RXHeader,RxData) == HAL_OK) {
        if (RXHeader.IDE == CAN_ID_EXT)
            RobStride_01.RobStride_Motor_Analysis(RxData, RXHeader.ExtId);
        else
            RobStride_01.RobStride_Motor_Analysis(RxData, RXHeader.StdId);
    }
}

3. Main API List

Feature	Function Name	Description
Enable motor	`Enable_Motor()`	Enable motor, enter running state
Disable motor	`Disenable_Motor(clear_err)`	Disable, `clear_err=1` to clear error
Torque control	`RobStride_Motor_move_control(t, angle, speed, kp, kd)`	Torque/Speed/Angle composite
PP Position Mode	`RobStride_Motor_Pos_control(speed, angle)`	Position interpolation mode
Speed Mode	`RobStride_Motor_Speed_control(speed, limit_cur)`	Constant speed control
Current Mode	`RobStride_Motor_current_control(current)`	Constant current control
Zeroing	`Set_ZeroPos()`	Set current angle as zero
Parameter read	`Get_RobStride_Motor_parameter(addr)`	Read parameter
Parameter write	`Set_RobStride_Motor_parameter(addr, val, mode)`	Write parameter
Protocol switch	`RobStride_Motor_MotorModeSet(F_CMD)`	Switch to private/Canopen/MIT

MIT Protocol Specific

Feature	Function Name
MIT Enable/Disable	`RobStride_Motor_MIT_Enable()` / `RobStride_Motor_MIT_Disable()`
MIT Composite Control	`RobStride_Motor_MIT_Control(angle, speed, kp, kd, torque)`
MIT Pos/Speed Control	`RobStride_Motor_MIT_PositionControl(pos, speed)` / `RobStride_Motor_MIT_SpeedControl(speed, cur_lim)`
MIT Error Clear	`RobStride_Motor_MIT_ClearOrCheckError(cmd)`
MIT Zeroing	`RobStride_Motor_MIT_SetZeroPos()`
MIT ID/Mode Set	`RobStride_Motor_MIT_SetMotorId(id)` / `RobStride_Motor_MIT_SetMotorType(type)`
MIT Protocol Switch	`RobStride_Motor_MIT_MotorModeSet(type)`

4. Important Notes

Protocol switching: To switch protocol, first use RobStride_Motor_MotorModeSet(0x**) or RobStride_Motor_MIT_MotorModeSet(0x**), then power-cycle (reboot) the motor before using new protocol-related functions.
Standard CAN frame ID range is 0x00~0x7F; do not exceed this range.
Parameter addresses and details are subject to the RS01 motor protocol manual.
All Enable_Motor/Disenable_Motor functions auto-adapt to protocol but you should use the appropriate APIs as per protocol when possible.
Control parameters: angle in radians, speed in rad/s, current in Amps.

5. FAQ

Q: PP position mode enabled but no movement?
A: Make sure to set an appropriate target speed (e.g. 2~5 rad/s) with RobStride_Motor_Pos_control, and check if speed is set via 0x7018. Use sufficient delays after mode switching.
Q: Wrong CAN ID in MIT commands?
A: Make sure CAN_ID does not exceed 0x7F; if you see IDs like 0x47F, check your ID assignment and masking in code.
Q: No response from motor?
A: Check CAN bus wiring, baudrate, power supply, and make sure the master and motor IDs/protocol match.

6. References

RS01 Motor Protocol Manual
This library source code and main.c example

7. Contact

For support, contact the author or RobStride technical support.

Name		Name	Last commit message	Last commit date
Latest commit History 10 Commits
Drivers		Drivers
Inc		Inc
MDK-ARM		MDK-ARM
RS		RS
Src		Src
.mxproject		.mxproject
README.md		README.md
RS01_SampleProgram.ioc		RS01_SampleProgram.ioc

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RobStride 电机控制库使用说明 / RobStride Motor Control Library README

一、项目简介 Project Introduction

二、使用说明 Getting Started

2. 主循环用法 Main Loop Usage

3. CAN 回调函数 CAN Rx Callback

三、主要接口说明 Main API List

MIT协议相关

四、注意事项 Important Notes

五、常见问题 FAQ

六、参考资料 Reference

七、联系方式 Contact

RobStride Motor Control Library README

1. Project Introduction

2. Getting Started

Main Loop Example

CAN Rx Callback Example

3. Main API List

4. Important Notes

5. FAQ

6. References

7. Contact

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RobStride 电机控制库使用说明 / RobStride Motor Control Library README

一、项目简介 Project Introduction

二、使用说明 Getting Started

2. 主循环用法 Main Loop Usage

3. CAN 回调函数 CAN Rx Callback

三、主要接口说明 Main API List

MIT协议相关

四、注意事项 Important Notes

五、常见问题 FAQ

六、参考资料 Reference

七、联系方式 Contact

RobStride Motor Control Library README

1. Project Introduction

2. Getting Started

Main Loop Example

CAN Rx Callback Example

3. Main API List

4. Important Notes

5. FAQ

6. References

7. Contact

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