Package Summary

This is a ROS package for communicating with one or more Muse Brushless Modules.

Node

Published Topics

• muse_bldc_motor_drive/module_discovery (muse_bldc_motor_drive/module_list.msg)

   Provides a *list* with all active Muse Modules, that are visible through current network and the *number* of them.
   The *list* provides some information for each module: module name, module ip, module status.
  

• <feedback_topic_name> (muse_bldc_motor_drive/feedback.msg)

   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*. 
  

Subscribed Topics

• muse_bldc_motor_drive/communication (muse_bldc_motor_drive/communication_cmd.msg)

   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. 
  

• <control_commands_topic_name> (muse_bldc_motor_drive/control_cmd.msg)

   An interface to send control commands to Muse Module. Commands provided: 
   * SET_CONTROL_LIMITS            
   * SET_CURRENT_GAINS
   * SET_SPEED_GAINS
   * SET_POSITION_GAINS
   * SET_CURRENT
   * SET_SPEED
   * SET_POSITION
  

• <state_machine_commands_topic_name> (muse_bldc_motor_drive/state_machine_cmd.msg)

   An interface to send state machine commands to Muse Module. Commands provided: 
   * CONNECT                                       
   * DISCONNECT
   * STARTUP
   * SHUTDOWN
   * ENABLE_SERVO
   * DISABLE_SERVO
   * CONTROL_ON
   * CONTROL_OFF
   * QUICK_ENABLE
   * CALIBRATE_ELEC_ANGLE_OFFSET
   * CALIBRATE_START
   * SET_NAME
   * CLEAR_FAULTS                  
   * CLEAR_ERRORS
  

Parameters

• control frequency(float64, default: 1000.0)

   This is the frequency that muse_bldc_motor_drive Node can handle sent commands. 
  

• feedback frequency(float64, default: 1000.0)

   This is the frequency of published feedback from muse_bldc_motor_drive Node.