Getting Started

First you need to make sure you have a can adapter ( USB or CAN hat ) whatever can interface you use you need to bring that interface up.

sudo ip link set can1 up type can bitrate 500000 berr-reporting on

Next you need to start up the motor controller, you do this with the following command

DEBUG='igus:.*' node index.js -p 3000 --host 192.168.0.107

Note the command line parameters, all parameters can be seen in this table:

Parameter	Example	Optional	Default	Description
--host	--host 192.168.0.107	NO		Host ( robot viewer ) ip address
-p OR --port	-p 3000	Yes	80	Host ( robot viewer ) port
--mock	--mock	Yes	false	If you dont have arduino connected mock the board
--can	--can can1	Yes	can1	The can interface

Please Note: if you are not using any sort of extra IO / Gripper then pass --mock so it does not attempt to connect to an arduino.

Config

The presense of a config.json will result in motor parameters changing.

Example ( IGUS ):

{
  "j0": { "limNeg": -180, "limPos": 180, "flip": true, "gearRatio": 70 },
  "j1": { "limNeg": -140, "limPos": 80, "offset": 30, "flip": true, "gearRatio": 70 },
  "j2": { "limNeg": -140, "limPos": 80, "offset": 30, "flip": true, "gearRatio": 70 },
  "j3": { "limNeg": -180, "limPos": 180, "flip": true, "gearRatio": 70 },
  "j4": { "limNeg": -95, "limPos": 95, "offset": -8, "flip": true, "gearRatio": 50 },
  "j5": { "limNeg": -180, "limPos": 180, "offset": 14, "flip": true, "gearRatio": 50 }
}