Robotic Arm Controller
All robotic arms come with a controller as shown in the image below:
By default, the controller is configured for immediate use based on the equipment you purchased, providing two services:
-
Direct forwarding of CAN port data (available in all configurations)
-
Robotic arm driver interface (configured according to the number of robotic arms, starting from can0)
Port mapping relationships:
| can0 | can1 | can2 | |
|---|---|---|---|
| Robotic Arm Driver Port | 8439 | 9439 | 10439 |
| CAN Message Forwarding Port | 7998 | 7999 | 8000 |
How to Use?
Getting the Controller's IP Address
Please refer to the HexController documentation for detailed instructions.
Getting CAN Bus Messages
Use the ws_can tool and select the correct CAN message forwarding port to monitor and quickly obtain raw data from the CAN bus.
Controlling the Robotic Arm
Please refer to the Api-Controller content to implement robotic arm control.
Developer Options
You only need to read this section if you want to customize the HexController configuration.
The functionality of HexController is configured through JSON files within the HexController. You can modify the configuration by editing these files. The controller-config project provides some standard configuration demos and explains the configuration methods.