README.md

# MATE Control

This projet allows to control the MATE robots V1 (MATE 1dof Pendule, 3 dof MATE, 4dof SCARA)

## Install
- Install python-can : 
```
pip install python-can
```

## Getting started

- Motors should be powered between 24V to 48V (V3 motors as close as possible to 48V)
- Connect the CAN-USB to the motor and the USB port
- Configure can before start. In the terminal run: 
```
sudo ip link set can0 up type can bitrate 1000000  <- This command is needed at every connection of the motor

```
This has to be done each time the USB-CAN is connected to the USB port
- Recover the CAN-ID of the motor
- Modify the file resources/robot_config/robot_config.json to include your motor as part of a robot, or as a simple motor/pendulum with its ID

## Examples
- pos_control_1dof.py : Simple example of sending the motor/pendulum to a fixed position during a certain amount of time
- gravity_comp_1dof.py : Torque control to compensate the load of a 1dof pendulum 
- pos_control_3dof.py : Example for the 3dof MATE robot to move between three different robot configuration. 
- pos_control_double_pendulum.py : Unilateral teleoperation of a pendulum with another pendulum.