AK60-6 Servo Mode with Arduino

Actuators
1

Hi, I am looking for help about use servo mode on arduino. That is my code which I used:

#include <mcp2515_can.h>
#include <SPI.h>

/*SAMD core*/
#ifdef ARDUINO_SAMD_VARIANT_COMPLIANCE
#define SERIAL SerialUSB
#else
#define SERIAL Serial
#endif

mcp2515_can CAN(10);


const float MAX_PWM = 100000.0f;
const float MAX_CURRENT = 60000.0f;
const float MAX_VELOCITY = 100000.0f;
const float MAX_POSITION = 360000000.0f;
const float MAX_POSITION_VELOCITY = 32767.0f;
const float MIN_POSITION_VELOCITY = -32768.0f;
const float MAX_ACCELERATION = 400000.0f;

enum AKMode {
  AK_PWM = 0,
  AK_CURRENT,
  AK_CURRENT_BRAKE,
  AK_VELOCITY,
  AK_POSITION,
  AK_ORIGIN,
  AK_POSITION_VELOCITY,
};

uint32_t canId(int id, AKMode Mode_set) {
  uint32_t mode;
  mode = Mode_set;
  return uint32_t(id | mode << 8);
}

void comm_can_transmit_eid(uint32_t id, const uint8_t* data, uint8_t len) {
  uint8_t i = 0;
  if (len > 8) {
    len = 8;
  }
  uint8_t buf[len];
  for (i = 0; i < len; i++) {
    buf[i] = data[i];
  }
  CAN.sendMsgBuf(id, 1, len, buf);
}

void buffer_append_int32(uint8_t* buffer, int32_t number, int32_t* index) {
  buffer[(*index)++] = number >> 24;
  buffer[(*index)++] = number >> 16;
  buffer[(*index)++] = number >> 8;
  buffer[(*index)++] = number;
}

void buffer_append_int16(uint8_t* buffer, int16_t number, int16_t* index) {
  buffer[(*index)++] = number >> 8;
  buffer[(*index)++] = number;
}


void comm_can_set_duty(uint8_t controller_id, float duty) {
  int32_t send_index = 0;
  uint8_t buffer[4];
  buffer_append_int32(buffer, (int32_t)(duty * 100000.0), &send_index);
  comm_can_transmit_eid(canId(controller_id, AKMode::AK_PWM), buffer, send_index);
}

void comm_can_set_current(uint8_t controller_id, float current) {
  int32_t send_index = 0;
  uint8_t buffer[4];
  buffer_append_int32(buffer, (int32_t)(current * 1000.0), &send_index);
  comm_can_transmit_eid(canId(controller_id, AKMode::AK_CURRENT), buffer, send_index);
}

void comm_can_set_cb(uint8_t controller_id, float current) {
  int32_t send_index = 0;
  uint8_t buffer[4];
  buffer_append_int32(buffer, (int32_t)(current * 1000.0), &send_index);
  comm_can_transmit_eid(canId(controller_id, AKMode::AK_CURRENT_BRAKE), buffer, send_index);
}

void comm_can_set_rpm(uint8_t controller_id, float rpm) {
  int32_t send_index = 0;
  uint8_t buffer[4];
  buffer_append_int32(buffer, (int32_t)rpm, &send_index);
  comm_can_transmit_eid(canId(controller_id, AKMode::AK_VELOCITY), buffer, send_index);
}

void comm_can_set_pos(uint8_t controller_id, float pos) {
  int32_t send_index = 0;
  uint8_t buffer[4];
  buffer_append_int32(buffer, (int32_t)(pos * 1000000.0), &send_index);
  comm_can_transmit_eid(canId(controller_id, AKMode::AK_POSITION), buffer, send_index);
}

void comm_can_set_origin(uint8_t controller_id, uint8_t set_origin_mode) {
  int32_t send_index = 0;
  uint8_t buffer[4];
  comm_can_transmit_eid(canId(controller_id, AKMode::AK_ORIGIN), buffer, send_index);
}

void comm_can_set_pos_spd(uint8_t controller_id, float pos, int16_t spd, int16_t RPA) {
  int32_t send_index = 0;
  int16_t send_index1 = 0;
  uint8_t buffer[4];
  buffer_append_int32(buffer, (int32_t)(pos * 10000.0), &send_index);
  buffer_append_int16(buffer, spd, &send_index1);
  buffer_append_int16(buffer, RPA, &send_index1);
  comm_can_transmit_eid(canId(controller_id, AKMode::AK_POSITION_VELOCITY), buffer, send_index);
}

void motor_receive(float* motor_pos, float* motor_spd, float* motor_cur, int8_t* motor_temp, int8_t* motor_error, uint8_t* rx_message) {
  byte len = 0;
  byte buf[8];
  unsigned long canId;

  CAN.readMsgBuf(&len, buf);
  int16_t pos_int = buf[0] << 8 | buf[1];
  int16_t spd_int = buf[2] << 8 | buf[3];
  int16_t cur_int = buf[4] << 8 | buf[5];
  *motor_pos = (float)(pos_int * 0.1f);
  *motor_spd = (float)(spd_int * 10.0f);
  *motor_cur = (float)(cur_int * 0.01f);
  *motor_temp = buf[6];
  *motor_error = buf[7];
}


void setup() {

  Serial.begin(115200);
  while (!Serial) {};
  while (CAN_OK != CAN.begin(CAN_1000KBPS)) {  // init can bus : baudrate = 1000k
    Serial.println("CAN BUS Shield init fail");
    Serial.println(" Init CAN BUS Shield again");
    delay(100);
  }
  Serial.println("CAN init ok!");
}

void loop() {
  char rc;
  rc = Serial.read();
  Serial.println(rc);
  delay(100);

  if (rc == 'x') {
    comm_can_set_rpm(0x01, 50000.0);
    SERIAL.print("deneme");
  }
  if (rc == 's') {
    comm_can_set_rpm(0x01, 0);
    SERIAL.print("durdu");
  }
}

What can be wrong? Can anybody help me?

And also is there any code which i can use?
Thanks

2

Dear @lezgin2003,

Typically for servo control, you may use

#include <Servo.h>

Servo servo; // Create a Servo object

void setup() {
  servo.attach(9); // Attach the servo to pin 9
}

void loop() {
  servo.write(90); // Move the servo to 90 degrees
  delay(1000);     // Wait for 1 second
  servo.write(0);  // Move the servo to 0 degrees
  delay(1000);     // Wait for 1 second
}

For this motor specifically, they ar tutorials available e.g. tutorial_video

4

my motor is not a servo motor?
Also, video is about MIT Mode but i am asking for servo mode, not servo motor.

5

Hi bro, i hope this message found you well.
Did you resolve your problem, because i’am in the same trouble and i can’t control the motor since i only recibing data however when i want to send the comand the motor doesn’t do anything.