COmpliant RObot COntroller is a free software project aiming to create an impedance controller based on a STM32F4 microcontroller using bldc motors and strain gauges.

Please install the following requierments according to your distribution/OS instructions:

• gcc-arm-none-eabi
• newlib for the toolchain
• stlink

libopencm3 is included as a git submodule

Init and download submodules:

git submodule init
git submodule update

Compile them:

# libopencm3
cd libopencm3/
make

# libopencm3-plus
cd libopencm3-plus/
make

Because different motor require different parameters, we currently have various motor header files in src/Configuration, in order to keep things generic we currently link the header file to motor.h, for example:

ln -s vexta_AXHM450KC-GFH.h motor.h

We are looking into a better way to do this.

Because of performance concerns we use tables to calculate trigonometric functions, to generate the tables there are some Python 2 scripts in src/Trigonometric_Functions/. You must provide the number of elements on the table as a paremeter for this scripts and they generate some C header files, for example:

python2 sine_table_generator.py 30