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.

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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);
    }
}

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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)

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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。

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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。

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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

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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。

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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.).

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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);
    }
}

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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)

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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.

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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.

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6. References

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

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7. Contact

For support, contact the author or RobStride technical support.

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