https://github.com/pcrnjak/spectral-bldc-python

Python lib for controlling spectral BLDC controllers.
https://github.com/pcrnjak/spectral-bldc-python

bldc foc robot robotics spectral

Last synced: about 2 months ago
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Python lib for controlling spectral BLDC controllers.

• Host: GitHub
• URL: https://github.com/pcrnjak/spectral-bldc-python
• Owner: PCrnjak
• License: mit
• Created: 2024-02-21T17:08:39.000Z (11 months ago)
• Default Branch: main
• Last Pushed: 2024-11-26T10:55:52.000Z (about 2 months ago)
• Last Synced: 2024-11-26T10:59:41.289Z (about 2 months ago)
• Topics: bldc, foc, robot, robotics, spectral
• Language: Python
• Homepage:
• Size: 3.05 MB
• Stars: 12
• Watchers: 3
• Forks: 4
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • Funding: .github/FUNDING.yml
  • License: LICENSE

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README

        
# Spectral-BLDC

[![License: MIT](https://img.shields.io/badge/License-MIT-green.svg)](https://opensource.org/licenses/MIT)  ![Issues](https://img.shields.io/github/issues/PCrnjak/Spectral-BLDC-Python) ![release](https://img.shields.io/github/v/release/PCrnjak/Spectral-BLDC-Python)

Python lib for controlling [spectral BLDC](https://github.com/PCrnjak/Spectral-Micro-BLDC-controller/blob/main/README.md) controllers and [SSG-48 gripper](https://github.com/PCrnjak/SSG-48-adaptive-electric-gripper) over CAN bus. 

For more info about this API and all available commands check [DOCS](https://source-robotics.github.io/Spectral-BLDC-docs/apage7_can/)

# How to install

  pip install Spectral-BLDC

# Basic example

``` py 

import Spectral_BLDC as Spectral

import time

Communication1 = Spectral.CanCommunication(bustype='slcan', channel='COM41', bitrate=1000000)

Motor1 = Spectral.SpectralCAN(node_id=0, communication=Communication1)

while True:

    Motor1.Send_Respond_Encoder_data()

    message, UnpackedMessageID = Communication1.receive_can_messages(timeout=0.2)

    if message is not None:

        Motor1.UnpackData(message,UnpackedMessageID)

        print(f"Motor position is: {Motor1.position}")

        print(f"Motor speed is: {Motor1.speed}")

    else:

        print("No message after timeout period!")

    print("")

    time.sleep(1 )

```

# More examples

Check out the [Examples folder](https://github.com/PCrnjak/Spectral-BLDC-Python/tree/main/examples) for more examples!

Available examples:

* Send_respond_1

* Get_encoder_data

* SSG48_gripper_test

This project is entirely open-source and free for all to use. Any support, whether through donations or advice, is greatly appreciated. Thank you!

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