README.md
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00001 # Package Summary
00002 
00003 This is a ROS package for communicating with one or more Muse Brushless Modules. 
00004 
00005 # Node
00006 ## Published Topics
00007  * muse_bldc_motor_drive/module_discovery (muse_bldc_motor_drive/module_list.msg)
00008 
00009         Provides a *list* with all active Muse Modules, that are visible through current network and the *number* of them.
00010         The *list* provides some information for each module: module name, module ip, module status.
00011 
00012  * <feedback_topic_name> (muse_bldc_motor_drive/feedback.msg)
00013         
00014         Provides the *name* of current Muse Module and also, feedback - *current [A]*, *speed [krpm]*, *position [revs]*, *bus voltage [V]*, *temperature [C]* - possible *erros/faults*, *control mode* and *fsm state*. 
00015 
00016 ## Subscribed Topics
00017  * muse_bldc_motor_drive/communication (muse_bldc_motor_drive/communication_cmd.msg)
00018         
00019         A command to open or close the topics needed for communication with a single Muse Module. You have to set the ip or name of desired Module and you choose the names of topics needed to send commands and get feedback from it. You can get Module's name or ip from *muse_bldc_motor_drive/communication* publisher and see if it's connected to the network. 
00020 
00021  * <control_commands_topic_name> (muse_bldc_motor_drive/control_cmd.msg)
00022 
00023         An interface to send control commands to Muse Module. Commands provided: 
00024         * SET_CONTROL_LIMITS            
00025         * SET_CURRENT_GAINS
00026         * SET_SPEED_GAINS
00027         * SET_POSITION_GAINS
00028         * SET_CURRENT
00029         * SET_SPEED
00030         * SET_POSITION
00031 
00032  * <state_machine_commands_topic_name> (muse_bldc_motor_drive/state_machine_cmd.msg)
00033 
00034         An interface to send state machine commands to Muse Module. Commands provided: 
00035         * CONNECT                                       
00036         * DISCONNECT
00037         * STARTUP
00038         * SHUTDOWN
00039         * ENABLE_SERVO
00040         * DISABLE_SERVO
00041         * CONTROL_ON
00042         * CONTROL_OFF
00043         * QUICK_ENABLE
00044         * CALIBRATE_ELEC_ANGLE_OFFSET
00045         * CALIBRATE_START
00046         * SET_NAME
00047         * CLEAR_FAULTS                  
00048         * CLEAR_ERRORS
00049 
00050 ## Parameters
00051  * control frequency(float64, default: 1000.0)
00052 
00053         This is the frequency that muse_bldc_motor_drive Node can handle sent commands. 
00054 
00055  * feedback frequency(float64, default: 1000.0)
00056 
00057         This is the frequency of published feedback from muse_bldc_motor_drive Node.


muse_bldc_motor_drive
Author(s): Maria Karageorgiou
autogenerated on Sat Jun 8 2019 18:46:20