Xiaomi CyberGear Driver

This driver uses Espressif's TWAI (Two-Wire Automotive Interface) in order to communicate with Xiamoi CyberGear motors. It bases on the library Xiaomi_CyberGear_Arduino and is ported for ESP-IDF.

Safety

This library does not use error logs/prints, but instead every internal error is passed through. Therefore each relevant function returns esp_err_t, which should be handled. During development ESP_ERROR_CHECK(...) helps, but due to the strength of these motors, an error should be resolved or the motors should be stopped by an external emergency mechanism.

Pay attention: The motor provides a list of faults. These are not tested yet and the code is beta. Following lists the faults and whether a fault was already correctly tested:

• overload
• uncalibrated
• over_current_phase_a
• over_current_phase_b
• over_current_phase_c
• over_voltage
• under_voltage
• driver_chip
• over_temperature
• magnetic_code_failure
• hall_coded_faults

Using component

idf.py add-dependency "cybergear-robotics/cybergear"

Example

1. create example project

idf.py create-project-from-example "cybergear-robotics/cybergear:position_test"

2. Go to to example directory (for example position_test) cd position_test
3. Set ESP chip idf.py set-target esp32
4. Configure CAN TX/RX in menu CyberGear Example. idf.py menuconfig
5. Build, flash idf.py build flash monitor

Related projects

• Xiaomi_CyberGear_Arduino
• cybergear_m5