Kinisi motor controller firmware - In development

The Kinisi motor controller firmware repository is a collection of software that controls the operations of Kinisi motor controllers. It includes the firmware source code, build scripts, and related documentation. The repository is designed to be a central hub for developers, hobbyists, and engineers who are looking to customize, extend, or debug their Kinisi motor controller systems. The firmware is written in C language and is optimized for performance and reliability. The repository is open-source and community-driven, allowing anyone to contribute their ideas and improvements to the codebase. Whether you're working on a custom robotics project or building a new consumer product, the Kinisi motor controller firmware repository is the perfect starting point for all your motor control needs.

Hardware project can be find here.

Motor controller commands discription

There are number of commands that can be send to the motor controller to control motor speed and direction as well as to read encoder values. There are also commands to set PID controller for the motor to control its speed and position. Commands can be send to the motor controller via serial port.

Discription of commands can be find here.
JavaScript code and client with UI interface to control motor controller can be find here.
Python code to control motor controller can be find here.

Generating Commands from commands.json

To generate commands from commands.json, follow these steps:

1. Ensure you have Python installed: The script requires Python 3.x to run.

2. Navigate to the tools directory: Open a terminal and navigate to the tools directory in your project.

3. Run the update-commands.py script: Execute the following command in the terminal:

   cd tools
   python update-commands.py

This script will:

• Generate the command file commands.h from commands.json using the generator.py script.
• Generate the documentation file commands.md from commands.json using the generator.py script.

Building the Project

To build the project for the genericSTM32F405RG configuration, follow these steps:

1. Ensure you have PlatformIO installed: The build process requires PlatformIO.

2. Navigate to the project directory: Open a terminal and navigate to the root directory of your project.

3. Run the build command: Execute the following command in the terminal:

   pio run -e genericSTM32F405RG

This command will build the project for the genericSTM32F405RG configuration.

Running Tests

To run all the tests for the project, follow these steps:

1. Ensure you have PlatformIO installed: The testing process requires PlatformIO.

2. Navigate to the project directory: Open a terminal and navigate to the root directory of your project.

3. Run the test command: Execute the following command in the terminal:

   pio test -e test_native -e test_platforms

This command will run:

• Unit tests for utilities, commands, and controller components under the test_native environment
• Platform-specific tests for omni, mecanum, and differential platforms under the test_platforms environment

You can also run specific test suites by using the -f flag:

pio test -e test_native -f test_commands

Links

• Kinisi Motion Controller firmware
• Kinisi Motion Controller hardware
• JavaScipt package for kinisi motor controller
• Python package for kinisi motor controller