Adding a New CAN Motor

config.ini

  1. Go to the individual exoskeleton sections and add the name of your new motor in the values comments above the joints. Make sure you add it to all the exoskeleton configurations.

parseIni.h

  1. In the config_defs namespace, add a new enumeration value to the motor enum.

  2. In the config_map namespace, add a case for your new motor in the motor mapping. Use the string you added to config.ini.

Motor.h

  1. Define a new CAN motor class that inherits _CANMotor (see class AK60 as an example). - To define a motor class, copy one of the existing CAN motor classes at the bottom of the file and rename it. - Ensure the class name is unique and descriptive.

Motor.cpp

  1. Define the constructor for your new class.

  2. Following the other CAN motor classes, define your _T_MAX and _V_MAX to match the motor’s maximum torque and velocity: - _T_MAX is the peak torque in Nm. - _V_MAX is the max speed (rpm) converted to rad/s:

    [rev/min] / 60 [s/min] * (2 * PI) [rad/rev]

Joint.cpp

  1. In each Joint constructor, add a case to the switch statement to handle your new motor.

Done

Update the config.ini file to use your new motors, and you’re all set!