Hello everyone,
I have written a hardware interface for the CubeMars AK Series Robotic Actuation Modules. These are powerful, small, and lightweight motors with an onboard motor controller and an integrated planetary gearbox. Even though I have only tested the implementation with the AK70-10 module, it should work for all models as they use the same communication protocol.
Here is the link to the GitHub repository: https://github.com/OpenFieldAutomation-OFA/cubemars_hardware
I am not affiliated with CubeMars, so this is not an “official” implementation.
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Hi! This looks like it’s exactly what we’re looking for. We would like to use this as part of our school project. Our motor ID’s are extended (0x29 and then the CAN ID in hex), and it seems like your plugin just uses the CAN ID. Is there any setting that enables the extended ID? Or should we update the code locally for our system?
I’m not sure what you mean by your motor ID’s are extended. Do you mean that you are using the extended frame format (EFF)? Because that’s already in the code. CubeMars motors can only be used with EFF as they define their CAN ID with bits 7 to 0 for the motor ID and bits 28 to 8 for the control mode (total of 29 bits).
If for some reason you are using a different format for the CAN ID (which would be incompatible with CubeMars though) then feel free to change the code yourself.