add : api-ref doc#489
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Preview: https://tokirobot.github.io/OpenArm See https://github.com/enactic/openarm/blob/main/website/README.md#pull-request-and-preview how to configure preview on fork. |
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Pull request overview
This PR updates the current API reference documentation for OpenArm, mainly adding CAN CLI documentation and refreshing setup, ROS2, and robot description guidance for newer workflows.
Changes:
- Adds a new OpenArm CAN CLI reference page and motor firmware update setup step.
- Updates CAN setup, motor configuration, ROS2 control, and robot description docs.
- Removes the placeholder Controls page and its overview section.
Reviewed changes
Copilot reviewed 9 out of 16 changed files in this pull request and generated 14 comments.
Show a summary per file
| File | Description |
|---|---|
website/docs/api-reference/setup/6-motor-firmware-update.mdx |
Adds optional motor firmware update instructions. |
website/docs/api-reference/setup/4-motor-config.mdx |
Updates baudrate, zero calibration, and communication verification commands. |
website/docs/api-reference/setup/2-can-setup.mdx |
Updates CAN setup commands and adds CLI-based configuration examples. |
website/docs/api-reference/ros2/install.mdx |
Moves Tabs imports and adjusts the ROS 2 install note. |
website/docs/api-reference/ros2/control.mdx |
Refreshes ROS2 control, launch, topics/actions, MoveIt2, and gain docs. |
website/docs/api-reference/index.md |
Removes the Advanced Controls section. |
website/docs/api-reference/description.mdx |
Updates robot description docs for v1.0/v2.0 structure and examples. |
website/docs/api-reference/controls.md |
Deletes the placeholder Controls page. |
website/docs/api-reference/cli.mdx |
Adds the OpenArm CAN CLI command reference and workflows. |
Comments suppressed due to low confidence (2)
website/docs/api-reference/cli.mdx:235
- The power-control section documents enabling motor torque but does not warn that the robot may hold or move under torque once enabled. Add the same kind of workspace/emergency-stop safety guidance used elsewhere in the setup and ROS2 hardware docs before showing enable commands.
### `enable` / `disable` — Motor Power Control
Enable or disable motor torque output.
```bash
openarm-can-cli -i can0 enable [OPTIONS]
openarm-can-cli -i can0 disable [OPTIONS]
website/docs/api-reference/description.mdx:244
- These commands use
openarm_bringup, but this page’s installation section only clones/buildsopenarm_description. A reader following this page alone will not have theopenarm_bringuppackage; add the openarm_ros2 prerequisite/link here or move this workflow to the ROS2 control guide.
```sh
ros2 launch openarm_bringup openarm.bimanual.launch.py arm_type:=v2.0 arm_prefix:=leader right_can_interface:=can0 left_can_interface:=can1
and
ros2 launch openarm_bringup openarm.bimanual.launch.py arm_type:=v2.0 arm_prefix:=follower right_can_interface:=can2 left_can_interface:=can3💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.
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| :::note | ||
| When `-i` is not specified, `can_configure` applies to all interfaces (`can0`–`can3`). | ||
| ::: |
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| :::warning | ||
| - Be sure to use the CAN interface on 2.0 during the baudrate setup regardless of your target baudrate. Configure it back to your target baudrate after this step is finished. | ||
| - Motor parameters has a 10000 time write limits, it should not be run frequently in scripts. | ||
| Motor parameters has a 10000 time write limits, it should not be run frequently in scripts. |
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| # Install openarm_can via apt (Ubuntu) | ||
| sudo apt install -y libopenarm-can-dev openarm-can-utils | ||
| # For manual installation or other platforms, see: | ||
| # https://github.com/enactic/openarm_can/tree/main/dev | ||
| # Alternatively, build from source via vcs: | ||
| # (cd ~/ros2_ws/src && vcs import < ./openarm_ros2/openarm.repos) |
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| # For CAN 2.0 | ||
| openarm-can-configure-socketcan can0 | ||
| openarm-can-configure-socketcan-4-arms | ||
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| # For CAN FD at 5mbps (recommended) | ||
| openarm-can-configure-socketcan can0 -fd -b 1000000 -d 5000000 | ||
| openarm-can-configure-socketcan-4-arms -fd -b 1000000 -d 5000000 |
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| # Change motor ID from 5 to 6 | ||
| openarm-can-cli -i can0 change_id -c 5 -s 6 --save |
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| # 3. Restore interface to motor baudrate after discover | ||
| openarm-can-cli -i can0 can_configure |
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| ## Download Firmware | ||
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| Download the latest firmware from the [Damiao motor firmware repository](https://github.com/dmBots/motor-firmware/tree/77a7c91cd5263cde42d931fe7f84619c7fc9e1f0/V3). |
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| ### 3. Enable motors and check status | ||
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| ```bash | ||
| # Enable all arm motors (IDs 1-8) | ||
| openarm-can-cli -i can0 enable | ||
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| # Monitor motor status | ||
| openarm-can-cli -i can0 monitor |
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| ### `set_zero` — Set Motor Zero Position | ||
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| ```bash | ||
| # Set zero for all arm motors | ||
| openarm-can-cli -i can0 set_zero | ||
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| # Set zero for specific motors | ||
| openarm-can-cli -i can0 set_zero --id 1,2 |
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