{"id":28764798,"url":"https://github.com/pollen-robotics/poulpe_ethercat_controller","last_synced_at":"2026-02-19T10:31:29.957Z","repository":{"id":275962388,"uuid":"801527121","full_name":"pollen-robotics/poulpe_ethercat_controller","owner":"pollen-robotics","description":"A rust based ethercat master controller for the Poulpe boards","archived":false,"fork":false,"pushed_at":"2025-10-02T16:32:40.000Z","size":25231,"stargazers_count":3,"open_issues_count":1,"forks_count":0,"subscribers_count":1,"default_branch":"develop","last_synced_at":"2025-10-02T18:29:00.617Z","etag":null,"topics":["ethercat","grpc","pollen-robotics","rust"],"latest_commit_sha":null,"homepage":"https://pollen-robotics.github.io/poulpe_ethercat_controller/","language":"Jupyter Notebook","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/pollen-robotics.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":".github/CONTRIBUTING.md","funding":null,"license":"LICENSE","code_of_conduct":"CODE_OF_CONDUCT.md","threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2024-05-16T12:03:08.000Z","updated_at":"2025-10-02T16:32:44.000Z","dependencies_parsed_at":"2025-04-03T13:28:46.552Z","dependency_job_id":"9bfeb0ee-edd7-4d64-9788-a887a199fa61","html_url":"https://github.com/pollen-robotics/poulpe_ethercat_controller","commit_stats":null,"previous_names":["pollen-robotics/poulpe_ethercat_controller"],"tags_count":17,"template":false,"template_full_name":null,"purl":"pkg:github/pollen-robotics/poulpe_ethercat_controller","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/pollen-robotics%2Fpoulpe_ethercat_controller","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/pollen-robotics%2Fpoulpe_ethercat_controller/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/pollen-robotics%2Fpoulpe_ethercat_controller/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/pollen-robotics%2Fpoulpe_ethercat_controller/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/pollen-robotics","download_url":"https://codeload.github.com/pollen-robotics/poulpe_ethercat_controller/tar.gz/refs/heads/develop","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/pollen-robotics%2Fpoulpe_ethercat_controller/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":29609792,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-02-19T06:47:36.664Z","status":"ssl_error","status_checked_at":"2026-02-19T06:45:47.551Z","response_time":117,"last_error":"SSL_connect returned=1 errno=0 peeraddr=140.82.121.5:443 state=error: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["ethercat","grpc","pollen-robotics","rust"],"created_at":"2025-06-17T10:12:03.239Z","updated_at":"2026-02-19T10:31:29.934Z","avatar_url":"https://github.com/pollen-robotics.png","language":"Jupyter Notebook","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Poulpe ethercat controller\n\n[![Build Status]][actions] ![GitHub Tag](https://img.shields.io/github/v/tag/pollen-robotics/poulpe_ethercat_controller) ![GitHub Release Date](https://img.shields.io/github/release-date/pollen-robotics/poulpe_ethercat_controller)\n\n\n\n[Build Status]: https://img.shields.io/github/actions/workflow/status/pollen-robotics/poulpe_ethercat_controller/rust.yml?branch=develop\n[actions]: https://github.com/pollen-robotics/poulpe_ethercat_controller/actions?query=branch%3Adevelop\n\n\nThis is a full EtherCAT stack that manages the communication with the poulpe boards through EtherCAT network primarlly developed for the use in the [Reachy2](https://pollen-robotics.com) robot's [Orbita2d](https://github.com/pollen-robotics/orbita3d_control) and [Orbita3d](https://github.com/pollen-robotics/orbita3d_control) actuators.  \nThe code is written in rust. It is intended to communicate with poulpe boards running the [firmware_Poulpe](https://github.com/pollen-robotics/firmware_Poulpe). \n\n\nThe full stack looks something like this:\n\n\u003cimg src=\"docs/images/grpc_full_stack.png\" width=\"900\"\u003e\n\n`ethercat_controller` creates the direct connection to the EtherCAT master deamon (which communicates with the poulpe boards). `poulpe_ethercat_controller` provides the abstraction layer for the poulpe boards around the `ethercat_controller`. Finally, `poulpe_ethercat_grpc` creates the `server` that can be accessed by multiple `client` instances.\n\nFin out more in our docs: [docs](https://pollen-robotics.github.io/poulpe_ethercat_controller/)\n\n## Installation\n\nSe more complete installation guide in the [docs](https://pollen-robotics.github.io/poulpe_ethercat_controller/installation)\n\n### Prerequisites\n\nFor using this code, you need to have the following installed: see the [installation guide](https://pollen-robotics.github.io/poulpe_ethercat_controller/installation/installation_ethercat/)\n\nThe you can start the master with:\n```shell\nsudo ethercatctl start\n```\nAnd see the connected slaves with:\n```shell\nethercat slaves\n```\n\n### Building\n\nClone the repo\n```shell\ngit clone git@github.com:pollen-robotics/poulpe_ethercat_controller.git\n```\n\nCheck out the branches that you need, depending on the poulpe firmware version that you are using.\n\n`firmware_poulpe` version | `poulpe_etehract_controller` version\n--- | ---\nv0.9.x | 0.9.x\nv1.0.x | 1.0.x or higher\nv1.5.x | 1.5.x\n\nFor example if you are using the v1.5.x firmware version you should check out the 1.5.x branch:\n```shell\ngit checkout 1.5.x\n```\n\n\nMake sure to have rust installed: [Rust](https://www.rust-lang.org/tools/install) as well as the Ethercat master.\n\n```shell\ncargo build --release\n```\n\n### Running\n\nMake sure you have your EteherCAT master running and the poulpe boards connected.\n\nTo run the server, you need to have the ethercat master running.\n\n```shell\nRUST_LOG=info cargo run --release config/ethercat.yaml\n```\n\n\u003cdetails markdown=\"1\"\u003e\u003csummary\u003eExample output with only one slave connected (NeckOrbita3d):\u003c/summary\u003e\n\n```shell\n$ RUST_LOG=info cargo run --release config/ethercat.yaml\n\n[2024-12-03T07:58:37Z INFO  ethercat_controller::ethercat_controller] Found 1 slaves\n[2024-12-03T07:58:37Z INFO  ethercat_controller::ethercat_controller] Slave \"NeckOrbita3d\" at position 0\n[2024-12-03T07:58:37Z INFO  server] Setup Slave 0...\n[2024-12-03T07:58:37Z INFO  ethercat_controller::ethercat_controller] Master and all slaves operational!\n[2024-12-03T07:58:37Z INFO  poulpe_ethercat_controller] Slave 0, inital state: SwitchOnDisabled\n[2024-12-03T07:58:37Z INFO  poulpe_ethercat_controller] Slave 0, setup done! Current state: SwitchedOn\n[2024-12-03T07:58:37Z INFO  server] Done!\n[2024-12-03T07:58:37Z INFO  server] POULPE controller ready!\n[2024-12-03T07:58:47Z INFO  ethercat_controller::ethercat_controller] EtherCAT loop: 913.37 Hz\n...\n```\n\u003c/details\u003e\n\n\nThe server is now running and you can connect to it using the clients. For example to make a sinusoidal movement with the NeckOrbita3d, you can run the following command:\n\n```shell\nRUST_LOG=info cargo run --release --examples client_sinus 0 # takes the slave id or name as argument\n```\n\n\n## Support\n\nThis project adheres to the Contributor [code of conduct](CODE_OF_CONDUCT.md). By participating, you are expected to uphold this code. Please report unacceptable behavior to [contact@pollen-robotics.com](mailto:contact@pollen-robotics.com).\n\nVisit [pollen-robotics.com](https://pollen-robotics.com) to learn more or join our [Dicord community](https://discord.gg/vnYD6GAqJR) if you have any questions or want to share your ideas.\nFollow [@PollenRobotics](https://twitter.com/pollenrobotics) on Twitter for important announcements.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fpollen-robotics%2Fpoulpe_ethercat_controller","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fpollen-robotics%2Fpoulpe_ethercat_controller","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fpollen-robotics%2Fpoulpe_ethercat_controller/lists"}