Firmware

Winder uses four Aotenjo One motor controllers to control the four motors (M0, M1, M2, M3) and one Aotenjo Master as the CAN bus master to coordinate the motor controllers.

Installation

Install this repo

git clone https://github.com/aotenjo-xyz/one.git 

Compatibility

The latest version is compatible with Aotenjo One v2.0 and later.

warning

The latest version is not compatible with Aotenjo One v1.x.

If any board in the CAN network is an Aotenjo One v1.x or Aotenjo Master v1.x, all boards must run the v1.x firmware for compatibility.

In this case, even v2.x boards must be flashed with the v1.x firmware.

Upload Firmware

You need to upload the firmware to each motor controller (M0, M1, M2, M3). The firmware for M0, M1, and M2 is the same (closed-loop angle control), while M3 requires a different firmware (closed-loop torque control).

Below are the steps for each motor:

Upload to M0

Please upload the default firmware to the M0 controller. No changes are needed. If you don't know how to upload the firmware, please refer to the Aotenjo One documentation.

Upload to M1

1. Change line 1 in src/CANProfile.h to set the motor ID to 0x01 for M1 as follows:

   #define MOTOR_ID 0x01 // M1

2. Upload the firmware to the M1 controller.

Upload to M2

1. Change the line1 in src/CANProfile.h to set the motor ID to 0x02 for M2 like the following:

   #define MOTOR_ID 0x02 // M2

2. Upload the firmware to the M2 controller.

Upload to M3

1. Replace src/main.cpp and src/CANProfile.h with the files from examples/M3/ (Linux/macOS commands below)

   rm src/*
   cp examples/M3/main.cpp src/main.cpp
   cp examples/M3/CANProfile.h src/CANProfile.h

2. Upload the firmware to the M3 controller.