Control RobStride motors via an interactive TUI or HTTP/JSON API. Supports real-time feedback, multi-actuator management, and comprehensive diagnostics.

• Multi-Actuator Support

  • Automatic bus scanning to discover available actuators
  • Auto-connect to first available actuator on startup
  • Hot-swap between actuators using arrow keys
  • Real-time display of all available actuators on the bus

• Real-time Motor Status Display

  • Current and target position (in radians and degrees)
  • Position error tracking with color-coded feedback
  • Velocity and torque monitoring
  • Temperature monitoring with color-coded warnings
  • Control configuration display (kp, kd, max_torque)
  • 50ms update rate

• Comprehensive Fault Monitoring

  • Uncalibrated motor detection
  • Hall encoding faults
  • Magnetic encoding faults
  • Over-temperature warnings
  • Overcurrent detection
  • Undervoltage detection

• Configurable Position Increments

  • 0.001 rad (fine control)
  • 0.01 rad (default)
  • 0.1 rad (coarse control)

• Advanced Control Modes

  • Normal mode: Standard position control
  • Lock mode: High stiffness for resisting external forces
  • Motor re-zeroing capability

Run the interactive terminal interface:

cargo run --release --bin run-rob-tui

Or run the compiled binary:

./target/release/run-rob-tui

Run the API server (listens on http://0.0.0.0:8080):

cargo run --release --bin run-rob-api

See API.md for complete API documentation and examples.

You can run both the TUI and API simultaneously in separate terminals to control motors via both interfaces.

Real-time connection status and system information:

• Connection Status: CONNECTED/DISCONNECTED with color coding
• Motor Status: ENABLED/DISABLED
• Control Mode: NORMAL/LOCKED
• Commands Sent: Total number of commands transmitted
• Feedback Received: Total number of feedback messages
• Last Feedback: Time since last feedback (color-coded by freshness)
• Active Actuator: Currently controlled actuator ID
• Available Actuators: List of all actuators found on the bus (active one in brackets)

Comprehensive real-time motor state:

• Target Position: The commanded position (rad and degrees)
• Current Position: Actual motor position from feedback (rad and degrees)
• Position Error: Difference between target and current (rad and degrees)
• Velocity: Current motor velocity (rad/s)
• Torque: Current motor torque (Nm)
• Temperature: Motor temperature with color-coded warnings (°C)
• Control Config: Active control parameters (kp, kd, max_torque)
• Faults: Comprehensive fault status display
  • Uncalibrated motor
  • Hall encoding errors
  • Magnetic encoding errors
  • Over-temperature
  • Overcurrent
  • Undervoltage

Lists all increment options with the active one highlighted in green with an arrow (→).

Quick reference for all keyboard commands.

Since the TUI uses the terminal display, logs are written to files instead of stdout:

• Logs are stored in ./logs/motor-control.log
• Daily rotation is enabled
• Use RUST_LOG environment variable to control log level:

RUST_LOG=debug cargo run --release

The application automatically scans for available actuators on startup and connects to the first one found. Default configuration:

• CAN Interface: can0
• Actuator Scanning: IDs 1, 2, 3, 127
• Normal Mode Control Parameters:
  • kp: 90.0
  • kd: 5.0
  • max_torque: 100.0 Nm
  • max_velocity: 50.0 rad/s
  • max_current: 90.0 A
• Lock Mode Control Parameters:
  • kp: 80.0 (higher stiffness)
  • kd: 2.0 (higher damping)
  • max_torque: 100.0 Nm
  • max_velocity: 50.0 rad/s
  • max_current: 90.0 A

Edit src/main.rs to modify these parameters or add more actuator IDs to scan.

The application includes proper cleanup:

• Motor is commanded to zero torque on exit
• Motor is disabled before shutdown
• Terminal is properly restored even on errors
• Ctrl+C handling for graceful shutdown

• Rust 1.70 or later
• SocketCAN interface (can0) configured and active
• RobStride motor(s) connected and powered

Install required tools:

sudo apt install can-utils net-tools

Setup CAN interface (or use the provided setup_can.sh script):

sudo pkill slcand || true
sudo ip link set can0 down 2>/dev/null || true
sudo slcand -o -s8 -t hw /dev/ttyACM0 can0
sudo ip link set can0 up

Verify the interface is up:

ip -details link show can0

Monitor CAN traffic (optional):

candump -tz -x can0

• Multiple Motors: The app automatically discovers all motors on the bus. Use ← and → to switch between them.
• Lock Mode: Use Lock Mode (press L) when you need the motor to resist external forces with high stiffness.
• Calibration: Press 0 to set the motor's current physical position as the new zero point. This is useful for calibrating the motor's home position.
• Return to Zero: Press Z to command the motor to move back to the zero position.
• Diagnostics: Check the fault indicators if a motor behaves unexpectedly. Temperature and torque readings help identify mechanical issues.
• Logging: Check ./logs/motor-control.log.* for detailed diagnostic information if something goes wrong.