Hi guys,
I’m looking to control an Igus Robolink robotic arm (https://www.igus.co.uk/product/14866) with a Raspberry Pi. The arm is already connected to a Commonplace Robotics control module which consists of a series of motor drivers and a support module, all of which are connected to each other on a CAN bus (please see “Robot Controller” - https://cpr-robots.com/industry#Roboterarme). I’m intending to use a PiCAN 2 attached to the Raspberry Pi to control the system, rather than being PC controlled as it currently is with software provided by CPR.
I’m aware of the stepper motor libraries that exist, but was wondering how I use them within CAN protocol as I’ve never coded onto CAN before; could anyone offer some advice on this please?
I’m pretty new to robotics and CAN (if you couldn’t tell!), so any help would be greatly appreciated. Cheers