Firmware for series elastic actuator, this board contains a stm32f103 microcontroller
#Installation(Upload using arduino IDE)
- Download arduino IDE
- Download zip file containing the STM32 files from here
- Unzip in arduino hardware folder (arduino-1.6.xx/hardware/) and rename to Arduino_STM32
- Run the arduino IDE, and on the Tools menu, select the Boards manager (Tools > Boards > Boards Manager), and install the Arduino Zero(Arduino SAMD boards 32 bits cortex M3) from the list of available boards. You must do this step, it installs the arm-none-eabi-g++ toolchain!
- Copy AS5048A and DynamixelProtocol from lib folder to (arduino-1.6.xx/libraries/)
- Change the line #define BOARD_HAVE_SERIALUSB 0 in the file arduino-1.6.xx/hardware/STM32F1/cores/maple/boards.h
#Setup Arduino IDE and board upload pins
- Board:STM32F103C Generic
- Variant:STM32F103C8
- Upload method: Stlink
- Open src/src.ino
- Pins for SWD(stlink v.2) setup:
NOTE: top-side of board. #Board settings
#define SEA_ID 105 //define the board id in rs485 network
#define INVERTED
...
#define SEA_RECT //Type of the board, coment if is the rounded board
...#Testing(linux)
Plug usb2Dinamyxel, power on the board.
cd test_board
make
./dynamixel_test ID_board