M5 stack library for cybergear

"Remember, with great torque comes great responsibility."

• Arduino for ESP32

• M5Stack Basic V2.7

• Xiaomi Cybergear
• M5Stack Basic V2.7
• M5Stack Commu module [M001]
• XT30(2+2)-F
• Grove Cable

This software requires a specific CAN to USB module. The official documentation recommends YourCee's USB to CAN module, which supports the serial protocol with a frame header of 41 54 and frame tail of 0D 0A, but this is not readily available, so we searched Aliexpress for an alternative. ※ Note that this will not work for general modules.

Tested(for reference):

• CAN to USB module

• XT30(2+2) Cable

1. Clone MCP_CAN_LIB and cygergear_m5 to Arduino Library directory.

cd ~/Arduino/libraries
git clone https://github.com/coryjfowler/MCP_CAN_lib.git
git clone https://github.com/Locoduino/RingBuffer.git
git clone https://github.com/project-sternbergia/cybergear_m5.git

2. Open cybergear_m5/examples/control_mode_example.ino with Arduino IDE

   

   Put this file in the same folder as control_mode_example.ino (for Arduino IDE)

3. Build and write firmware to M5Stack

Check cybergear behaviour using M5 stack.

• Middle Button - Change Control Mode (Position Mode -> Speed Mode -> Current Mode)
• Right Button - Increase control value
• Left Button - Decrease control value

This example use two cybergears for leader and follower. Before you test this example, please change cybergear can id as follows. After that write cybergear_m5/examples/cybergear_bilateral.ino to m5 stack throughout Arduino IDE.

• leader cybergear : 0x7F
• follower cybergear : 0x7E

• Xiaomi Cybergear 微电机使用说明书

MIT