https://github.com/enactic/openarm_can
OpenArm CAN control library
https://github.com/enactic/openarm_can
Last synced: 4 months ago
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OpenArm CAN control library
- Host: GitHub
- URL: https://github.com/enactic/openarm_can
- Owner: enactic
- License: apache-2.0
- Created: 2025-07-22T05:24:55.000Z (11 months ago)
- Default Branch: main
- Last Pushed: 2026-01-13T05:13:03.000Z (5 months ago)
- Last Synced: 2026-01-13T08:35:07.748Z (5 months ago)
- Language: C++
- Size: 177 KB
- Stars: 32
- Watchers: 4
- Forks: 41
- Open Issues: 7
-
Metadata Files:
- Readme: README.md
- Contributing: CONTRIBUTING.md
- License: LICENSE.txt
- Code of conduct: CODE_OF_CONDUCT.md
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README
# OpenArm CAN Library
A C++ library for CAN communication with OpenArm robotic hardware, supporting Damiao motors over CAN/CAN-FD interfaces.
This library is a part of [OpenArm](https://github.com/enactic/openarm/). See detailed setup guide and docs [here](https://docs.openarm.dev/software/can).
## Quick Start
### Prerequisites
- Linux with SocketCAN support
- CAN interface hardware
### 1. Install
#### Ubuntu
* 22.04 Jammy Jellyfish
* 24.04 Noble Numbat
```bash
sudo apt install -y software-properties-common
sudo add-apt-repository -y ppa:openarm/main
sudo apt update
sudo apt install -y \
libopenarm-can-dev \
openarm-can-utils
```
#### AlmaLinux, CentOS, Fedora, RHEL, and Rocky Linux
1. Enable [EPEL](https://docs.fedoraproject.org/en-US/epel/). (Not required for [Fedora](https://fedoraproject.org/))
* AlmaLinux 8 / Rocky Linux 8
```bash
sudo dnf install -y epel-release
sudo dnf config-manager --set-enabled powertools
```
* AlmaLinux 9 & 10 / Rocky Linux 9 & 10
```bash
sudo dnf install -y epel-release
sudo crb enable
```
* CentOS Stream 9
```bash
sudo dnf config-manager --set-enabled crb
sudo dnf install -y https://dl.fedoraproject.org/pub/epel/epel{,-next}-release-latest-9.noarch.rpm
```
* CentOS Stream 10
```bash
sudo dnf config-manager --set-enabled crb
sudo dnf install -y https://dl.fedoraproject.org/pub/epel/epel-release-latest-10.noarch.rpm
```
* RHEL 8 & 9 & 10
```bash
releasever="$(. /etc/os-release && echo $VERSION_ID | grep -oE '^[0-9]+')"
sudo subscription-manager repos --enable codeready-builder-for-rhel-$releasever-$(arch)-rpms
sudo dnf install -y https://dl.fedoraproject.org/pub/epel/epel-release-latest-$releasever.noarch.rpm
```
2. Install the package.
```bash
sudo dnf update
sudo dnf install -y \
openarm-can-devel \
openarm-can-utils
```
### 2. Setup CAN Interface
Configure your CAN interface using the provided script:
```bash
# CAN 2.0 (default)
openarm-can-configure-socketcan can0
# CAN-FD with 5Mbps data rate
openarm-can-configure-socketcan can0 -fd
```
### 3. C++ Library
```cpp
#include
#include
openarm::can::socket::OpenArm arm("can0", true); // CAN-FD enabled
std::vector motor_types = {
openarm::damiao_motor::MotorType::DM4310, openarm::damiao_motor::MotorType::DM4310};
std::vector send_can_ids = {0x01, 0x02};
std::vector recv_can_ids = {0x11, 0x12};
openarm.init_arm_motors(motor_types, send_can_ids, recv_can_ids);
openarm.enable_all();
```
See [dev/README.md](dev/README.md) for how to build.
### 4. Python (🚧 EXPERIMENTAL - TEMPORARY 🚧)
> [!WARNING]
>
> ⚠️ **WARNING: UNSTABLE API** ⚠️
> Python bindings are currently a direct low level **temporary port**, and will change **DRASTICALLY**.
> The interface is may break between versions.Use at your own risk! Discussions on the interface are welcomed.
**Build & Install:**
Please ensure that you install the C++ library first, as `1. Install` or [dev/README.md](dev/README.md).
```bash
cd python
# Create and activate virtual environment (recommended)
python -m venv venv
source venv/bin/activate
pip install .
```
**Usage:**
```python
# WARNING: This API is unstable and will change!
import openarm_can as oa
arm = oa.OpenArm("can0", True) # CAN-FD enabled
arm.init_arm_motors([oa.MotorType.DM4310], [0x01], [0x11])
arm.enable_all()
```
### Examples
- **C++**: `examples/demo.cpp` - Complete arm control demo
- **Python**: `python/examples/example.py` - Basic Python usage
## For developers
See [dev/README.md](dev/README.md).
## Related links
- 📚 Read the [documentation](https://docs.openarm.dev/software/can/)
- 💬 Join the community on [Discord](https://discord.gg/FsZaZ4z3We)
- 📬 Contact us through
## License
Licensed under the Apache License 2.0. See `LICENSE.txt` for details.
Copyright 2025 Enactic, Inc.
## Code of Conduct
All participation in the OpenArm project is governed by our [Code of Conduct](CODE_OF_CONDUCT.md).