MIT Mode
MIT mode is designed to be simple and compact: it uses a single CAN frame with tightly packed fields. The motor address is sent as the first 11 bits.
Enabling MIT mode
Section titled “Enabling MIT mode”Send the following payloads (prefixed with {ADDRESS_BIT_HIGH, ADDRESS_BIT_LOW}):
| Action | Payload |
|---|---|
| Enter motor control mode | 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xFC |
| Exit motor control mode | 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xFD |
| Set current position to 0 | 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xFE |
Send frame
Section titled “Send frame”| Byte | Field |
|---|---|
Data[0] |
Motor position high |
Data[1] |
Motor position low |
Data[2] |
Motor speed high |
Data[3] |
Motor speed low [7:4], KP high [3:0] |
Data[4] |
KP low |
Data[5] |
KD high |
Data[6] |
KD low [7:4], current high [3:0] |
Data[7] |
Current low |
Motor position is an int16; every other field is an int12.
Response frame
Section titled “Response frame”| Byte | Field |
|---|---|
Data[0] |
Drive (motor CAN) ID |
Data[1] |
Motor position high |
Data[2] |
Motor position low |
Data[3] |
Motor speed high |
Data[4] |
Motor speed low [7:4], current high [3:0] |
Data[5] |
Current low |
Data[6] |
Motor temperature |
Data[7] |
Motor error byte |