Poulpe ethercat controller

This is a full EtherCAT stack that manages the communication with the poulpe boards through EtherCAT network primarlly developed for the use in the Reachy2 robot's Orbita2d and Orbita3d actuators.
The code is written in rust. It is intended to communicate with poulpe boards running the firmware_Poulpe.

The full stack looks something like this:

ethercat_controller creates the direct connection to the EtherCAT master deamon (which communicates with the poulpe boards). poulpe_ethercat_controller provides the abstraction layer for the poulpe boards around the ethercat_controller. Finally, poulpe_ethercat_grpc creates the server that can be accessed by multiple client instances.

Fin out more in our docs: docs

Installation

Se more complete installation guide in the docs

Prerequisites

For using this code, you need to have the following installed: see the installation guide

The you can start the master with:

sudo ethercatctl start

And see the connected slaves with:

ethercat slaves

Building

Clone the repo

git clone [email protected]:pollen-robotics/poulpe_ethercat_controller.git

Check out the branches that you need, depending on the poulpe firmware version that you are using.

firmware_poulpe version	poulpe_etehract_controller version
v0.9.x	0.9.x
v1.0.x	1.0.x or higher
v1.5.x	1.5.x

For example if you are using the v1.5.x firmware version you should check out the 1.5.x branch:

git checkout 1.5.x

Make sure to have rust installed: Rust as well as the Ethercat master.

cargo build --release

Running

Make sure you have your EteherCAT master running and the poulpe boards connected.

To run the server, you need to have the ethercat master running.

RUST_LOG=info cargo run --release config/ethercat.yaml

Example output with only one slave connected (NeckOrbita3d):

$ RUST_LOG=info cargo run --release config/ethercat.yaml

[2024-12-03T07:58:37Z INFO  ethercat_controller::ethercat_controller] Found 1 slaves
[2024-12-03T07:58:37Z INFO  ethercat_controller::ethercat_controller] Slave "NeckOrbita3d" at position 0
[2024-12-03T07:58:37Z INFO  server] Setup Slave 0...
[2024-12-03T07:58:37Z INFO  ethercat_controller::ethercat_controller] Master and all slaves operational!
[2024-12-03T07:58:37Z INFO  poulpe_ethercat_controller] Slave 0, inital state: SwitchOnDisabled
[2024-12-03T07:58:37Z INFO  poulpe_ethercat_controller] Slave 0, setup done! Current state: SwitchedOn
[2024-12-03T07:58:37Z INFO  server] Done!
[2024-12-03T07:58:37Z INFO  server] POULPE controller ready!
[2024-12-03T07:58:47Z INFO  ethercat_controller::ethercat_controller] EtherCAT loop: 913.37 Hz
...

The server is now running and you can connect to it using the clients. For example to make a sinusoidal movement with the NeckOrbita3d, you can run the following command:

RUST_LOG=info cargo run --release --examples client_sinus 0 # takes the slave id or name as argument

Support

This project adheres to the Contributor code of conduct. By participating, you are expected to uphold this code. Please report unacceptable behavior to [email protected].

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