Software & Firmware

The software stack runs on a Linux host and communicates with the Robstride 00 motors over SocketCAN. Python is used for high-level control loops and bring-up scripts; C is available for latency-critical firmware.

Architecture


┌─────────────────────────────────┐
│        Control Loop (Python)    │  ~1 kHz
│  trajectory → joint torques     │
└──────────────┬──────────────────┘
               │  python-can / socket
┌──────────────▼──────────────────┐
│       SocketCAN (Linux kernel)  │
└──────────────┬──────────────────┘
               │  USB / SPI
┌──────────────▼──────────────────┐
│    CAN Interface (Canable etc.) │
└──────────────┬──────────────────┘
               │  CAN bus (1 Mbit/s)
        ┌──────┴──────┐
     Motor 1       Motor 2  …

Sections

Install SocketCAN, bring up the interface, verify with candump.

CAN Interface Setup

Python driver for Robstride 00: enable, MIT control frame, read-back, and example scripts.

Motor Control Code