MultiMotor: C++ Library for motor control

Used by my rover controller OmniCtrl and Dug the robot

Features:

• Supports different CanBus motors on the same CAN bus
  • ODrive and odrive-compatible motors
  • Xiaomi CyberGear motors
  • Robstride motors: in development
• Environment independent CAN support
  • Arduino, PlatformIO, ESP-IDF, linux, etc.
  • Includes support for ESP32's native TWAI CanBus library

Roadmap / future plans:

• Add additional CAN motor drivers
  • MJBot Moteus protocol
• Add RS-485 and UART motor support
  • Hiwonder/LewanSoul bus servos (like the LX-16A)
  • Feetech bus servos (like the STS3215)
• Python wrapper

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Usage

• Include the library in your project (see below)
• Create a CanInterface object, for example the CanEsp32Twai class that's included:

  CanEsp32Twai interface;
  interface.setup(PIN_CAN_RX, PIN_CAN_TX, 250000, &Serial);

• Create a driver object (on stack, heap, etc)

  ODriveDriver omotor(ID1, &interface);
  CyberGearDriver cmotor(ID2, &interface);

• Handle incoming messages in your loop:

  void loop() {
    // (other loop code)
  
    while (interface.available()) {
        CanMessage message = interface.readOne();
        bool handled = false;
        for (int i = 0; i < NUM_DRIVES; i++) {
            if (drives_[i]->handleIncoming(message.id, message.data, message.len, now))
                handled = true;
        }
    }
  }

Installation

• If you use PlatformIO, add the following to your platformio.ini:

  lib_deps = https://github.com/t413/multimotor.git

• Or use via submodule:

  git submodule add https://github.com/t413/multimotor.git