https://github.com/shikurm56/robotcanrevinterface
robotCanRevInterface
https://github.com/shikurm56/robotcanrevinterface
brushless-dc-motor can rev rev-robotics ros ros2 ros2-foxy spark spark-max ubuntu
Last synced: about 1 month ago
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robotCanRevInterface
- Host: GitHub
- URL: https://github.com/shikurm56/robotcanrevinterface
- Owner: ShikurM56
- License: mit
- Created: 2025-05-08T17:29:21.000Z (about 1 year ago)
- Default Branch: main
- Last Pushed: 2025-06-06T10:55:02.000Z (about 1 year ago)
- Last Synced: 2025-06-13T09:41:30.474Z (12 months ago)
- Topics: brushless-dc-motor, can, rev, rev-robotics, ros, ros2, ros2-foxy, spark, spark-max, ubuntu
- Language: Shell
- Homepage:
- Size: 4.71 MB
- Stars: 1
- Watchers: 2
- Forks: 0
- Open Issues: 10
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# robotCanRevInterface
## Warning
____
> [!WARNING]
> Warning: High Energy Electrical Device, exercise precautions.
Figure - Dangerous High Power Electrical Energy Hazard
Turn off the Delta Electroinka SM330-AR-22 Power Supply before disconnecting the wires.
- Power button is bottom of the 3 buttons on the right of the screen of the Delta Electronika SM330-AR-22 Power Supply
- Power Switch Is At Left Hand Side of Delta Electronika as you face it, this must be turned to horizontal position, pointing at 0 before it is safe to idsconnect wires.
- For added safety could disconnect Delta Electronika Power Supply from mains A/C Electrical Supply.
> [!CAUTION]
> Caution: High Risk Electrical Energy Hazard
____
## Description
robot Can Rev Interface
## Content
____
> [!NOTE]
> Note: System Requirements: Operating System: **Windows 10 (64-bit)** *or newer*; Processor: 64-bit | As of April 12, 2024 Windows 10 or later is required for the latest version of the REV Hardware Client. Please use 1.6.4 if you are on an older version of Windows.
> [!WARNING]
> Warning: **do not update the motor controller in REV Hardware Client**
____
### Setup
Windows 10 on Intel i7. Jetson AGX Xavier Developer Kit, motor controller and Brushless DC electric motor (commutatorless) motor. ("It is an improvement on the mechanical commutator (brushes) used in many conventional electric motors.". Monitor plugged into Jetson AGX shows REV Hardware Client running. Windows 10 Desktop Jetson AGX Xavier Developer Kit Motor Driver and Motor
____
REV Hardware Client > set device IDs | Save Configuration as new01 | **Note**: Click **Persist Configuration** (so that memory stores after Jetson power off.)
____
### Pulse Width Modulation Range
Figure 2 shows microsecond pulses needed for full forward and full reverse. From this lower speeds can be extrapolated on a pro rata basis.
Figure 2 - Image of Motor Driver showing microsecond Pulses for Full Forward and Full Reverse
## Hardware
### Motor Controller: [SPARK MAX Motor Controller](MAX_HERO-noflag__60247.webp)
### SPARK MAX Motor Controller
[Home / Shop All / SPARK MAX Motor Controller](MAX_HERO-noflag__60247.webp) | [SPARK MAX Motor Controller | REV Robotoics](https://www.revrobotics.com/rev-11-2158/)
____
### SPARK MAX Motor Controller
Figure 3 shows SPARK MAX Motor Controller.
Figure 3 - Image of SPARK MAX Motor Controller
____
### REV Motor
Figure 4 shows SPARK MAX Motor Controller.
Figure 4 - Image of REV Motor
____
### Next Steps
A01: [Continued here --> A01UbuntuFoxyInstallOnJetsonSteps.md](/documentation/A01UbuntuFoxyInstallOnJetsonSteps.md) 
A02: [UbuntuFoxyDocsTutorialsROS](documentation/A02UbuntuFoxyDocsTutorialsROS2Docs.md) 
A03: [turtlesim](documentation/A03turtlesim.md) 
A04: [20250513MayTuesday](documentation/A0420250513MayTuesday.md) - Rev 
A05: [20250514MayWednesday](documentation/A0520250514MayWednesday.md) - Wiring 
A06: [202505141529V01MayWednesdayAfternoonContinued](documentation/A06202505141529V01MayWednesdayAfternoonContinued.md) - REV Spark Max Motor Controller 
A07: [20250515MayThursdayV01](documentation/A0720250515MayThursdayV01.md) - Login, Resistance testing (CAN Hi Yellow Sun, Can Low Green Grass), CAN (Controller Area Network) 
A08: [20250515MayThursdayV02Evening](documentation/A0820250515MayThursdayV02Evening.md) - ROS 2 Setup 
A09: [20250516MayFridayV01Midday](documentation/A0920250516MayFridayV01Midday.md) - Light meaning table on Spark Max Motor Controller | ROS 2 Humble | Turtlesim | rqt GUI 
A10: [20250516MayFridayAfternoon](documentation/A1020250516MayFridayAfternoon.md) - turtlesim | rqt GUI | 2 turtles 
____
[docs02/A01Week03](docs02/A01Week03) folder 
docs02/A01Week03 A01 [20250516MayFridayLateAfternoonTurtlesimServiceControl](https://github.com/CoderSales/robotCanRevInterface/blob/main/docs02/A01Week03/A0120250516MayFridayLateAfternoonTurtlesimServiceControl.md) - Turtlesim Service Control 
docs02/A01Week03 A02 [20250516MayFridayLateAfternoon02V01](docs02/A01Week03/A0220250516MayFridayLateAfternoon02V01.md) - ros2 topic list 
_____
docs02/A01Week03 A03 [20250516MayFridayStudyV01](docs02/A01Week03/A0320250516MayFridayStudyV01.md) - turtlesim | commands | service | clear screen 
docs02/A01Week03 A04 [20250519MayMondayV01](docs02/A01Week03/A0420250519MayMondayV01.md) - turtlesim | commands | launch from Terminals | teleport 
docs02/A01Week03 A05 [20250520MayTuesdayV01](docs02/A01Week03/A0520250520MayTuesdayV01.md) - turtlesim | commands | Terminals
docs02/A01Week03 A06 [20250520MayTuesdayAfternoon](docs02/A01Week03/A0620250520MayTuesdayAfternoon.md) - turtlesim | commands | Terminals
docs02/A01Week03 A07 [20250521MayWednesdayV01](docs02/A01Week03/A0720250521MayWednesdayV01.md) - turtlesim | commands | Terminals
> [!IMPORTANT]
> Ctrl + F --> [Latest1]
____
[May Review](https://github.com/CoderSales/robotCanRevInterface/blob/main/B01docs03/Reviews/2025/May/A01/A01MayReview.md)
[Current](https://github.com/CoderSales/robotCanRevInterface/new/main/B01docs03/A01202505301300V01.md)
____
## References
ChatGPT
### References (content)
#### Software
##### GitHub Repositories
[grayson-arendt/sparkcan | GitHub.com](https://github.com/grayson-arendt/sparkcan/tree/master)
##### Code
[https://github.com/grayson-arendt/sparkcan/blob/master/examples/pid.cpp](https://github.com/grayson-arendt/sparkcan/blob/master/examples/pid.cpp)
##### Operating System
[Ubuntu (Debian) | ROS 2 Foxy Fitzroy are available for Ubuntu Focal. | ROS 2 Foxy (Ubuntu Focal)](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html)
____
- [REV > REV Hardware Client > Getting Started > Installation](https://docs.revrobotics.com/rev-hardware-client/gs/install)
> [!WARNING]
> Warning: **do not update the motor controller in REV Hardware Client**
#### Hardware
### SPARK MAX Motor Controller
[Home / Shop All / SPARK MAX Motor Controller](MAX_HERO-noflag__60247.webp) | [SPARK MAX Motor Controller | REV Robotoics](https://www.revrobotics.com/rev-11-2158/)
### SPARK Motor
[REV Robotics Neo Brushless Motor](https://www.revrobotics.com/rev-21-1650/)
____
### Ref > Theory
[CAN bus | Wikipedia](https://en.wikipedia.org/wiki/CAN_bus)
#### Ref > Stats Table
[PWM Input Specifications](https://docs.revrobotics.com/brushless/spark-max/specs#pwm-input-specifications)
### Ref > Formatting
[Markdown Symbols](https://docs.github.com/en/get-started/writing-on-github/getting-started-with-writing-and-formatting-on-github/basic-writing-and-formatting-syntax)