https://github.com/ndhana94/minicheetah_motor_control_app

https://github.com/ndhana94/minicheetah_motor_control_app

Last synced: 3 months ago
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• Host: GitHub
• URL: https://github.com/ndhana94/minicheetah_motor_control_app
• Owner: NDHANA94
• License: mit
• Created: 2022-10-21T11:43:12.000Z (over 2 years ago)
• Default Branch: main
• Last Pushed: 2024-05-28T09:05:00.000Z (about 1 year ago)
• Last Synced: 2025-01-31T23:01:54.066Z (5 months ago)
• Language: C
• Size: 43.8 MB
• Stars: 2
• Watchers: 1
• Forks: 1
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • Funding: .github/FUNDING.yml
  • License: LICENSE

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README

        
# minicheetah_actuator_APP

App for minicheetah BLDC motor driver

![ ](images/minicheetah_api_panel.png)

`app` directory contains the scripts of Mini-Cheetah motor controller GUI app which is developed using PyQt5.

`uart_can_brige` directory contains the firmaware of UART-CAN bridge for STM32F103C8T6 (Blue Pill) and scratch of the circuit diagram for UART-CAN bridge.

### Install dependencies

- `pip3 install pyqt5`

- `pip3 install pyserial`

- `pip3 install matplotlib`

### Run App:

```

python3 app/main.py

```

### Parameters can be controlled:

    - `p_des`: desired position

    - `v_des`: desired velocity

    - `kp`: stiffness

    - `kd`: damping

    - `i_ff`: Feed forward current