## page was renamed from Motor+Controller+Drivers
= ROS Motor Controller Drivers =
This page aggregates all ROS packages that allow interfacing with a motor controller or servo controller.

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== PhidgetMotorControl HC (1064) ==
 * http://www.phidgets.com/products.php?category=12&product_id=1064

=== phidgets-ros-pkg ===
 * https://launchpad.net/phidgets-ros-pkg
 * Written in C++

==== Node Architecture ====
 * Publisher/Subscriber model
 * Subscribes to:
  * cmd_vel ([[geometry_msgs|geometry_msgs.msg.Twist]])
 * Publishes:
  * phidgets/motorcontrol motor_params (motor index, velocity, and current)

== Roboteq AX2550 Motor Controller ==
=== au_automow_drivers ===
 * http://www.ros.org/browse/details.php?name=ax2550_python
 * Python and C++ available
 * Code at https://github.com/Auburn-Automow/au_automow_drivers

==== Node Architecture ====
 * Publisher/Subscriber model
 * https://github.com/Auburn-Automow/au_automow_drivers/tree/master/ax2550_python/nodes
 * Subscribes to:
  * cmd_vel ([[geometry_msgs|geometry_msgs.msg.Twist]])
 * Publishes:
  * base_odom ([[nav_msgs|nav_msgs.msg.Odometry]])
  * base_pose ([[geometry_msgs|geometry_msgs.msg.PoseStamped]])

== Robotis Dynamixel Servos ==
=== Dynamixel SDK ===
 * Official Packages ''[[http://wiki.ros.org/ROBOTIS|ROBOTIS]]''
 * [[dynamixel_sdk]]

=== Dynamixel Workbench ===
 * Official Packages ''[[http://wiki.ros.org/ROBOTIS|ROBOTIS]]''
 * [[dynamixel_workbench|dynamixel_workbench (metapackage)]]
  * [[dynamixel_workbench_single_manager]]
  * [[dynamixel_workbench_single_manager_gui]]
  * [[dynamixel_workbench_controllers]]
  * [[dynamixel_workbench_msgs]]
  * [[dynamixel_workbench_toolbox]]
  * [[dynamixel_workbench_tutorials]]

=== dynamixel_motor ===
 * [[dynamixel_motor]]

== Esmacat Motor Driver ==
Official Contact Page: ''[[http://wiki.ros.org/EsmaCAT|Esmacat]]''

=== Motor Driver 250 ===
 * [[https://www.esmacat.com/motor-driver-250|Motor Driver 250 product page]]
 * [[https://www.esmacat.com/mini-torque-driver-250|Mini Torque Driver 250 product page]]
 * [[https://esmacat.com/|Esmacat]]  is a powerful platform that can be used to develop DAQ sensor interfaces and motion control applications with hard real-time constraints. Connecting a [[https://www.esmacat.com/motor-driver-250|Motor Driver 250]] with an [[https://www.esmacat.com/16ch-analog-input|analog input DAQ]] and [[https://www.esmacat.com/16ch-loadcell-interface|load-cell interface]] is simple via an EtherCAT daisy chain.
 * Integration with a [[https://www.esmacat.com/master-s|server PC]] is available for hard real-time motion control applications with C/C++ [[https://www.esmacat.com/software|Esmacat software]] preinstalled. Server PC includes ROS integration for [[https://www.esmacat.com/ease|EtherCAT Arduino Shield by Esmacat (EASE)]]. Other products to be integrated before Fall of 2020.
 * Structure of EtherCAT motor control with ROS

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== Chip Robotics ==
Contact page: [[http://wiki.ros.org/ChipRobotics/|Chip Robotics]]  Product Website: [[https://chiprobotics.com]]

=== Brushless DC Motor Controller ===
 * [[https://chiprobotics.com/brushless-dc-motor-controller/|Product Page]] Motor controller for a single brushless DC motor. Easy to communicate using USB or UART.
 * [[https://docs.chiprobotics.com/bldc-motor-controller/single-brushless-dc-motor-controller|Detailed API for communication]].
 * [[http://wiki.ros.org/ChipRobotics/brushless_dc_motor_controller|ROS Driver for Communication with Motor Controller]]. Publish Subscriber Model written in C++.
 * [[https://github.com/chiprobotics/chip_bldc_driver|GitHub page for ROS Driver.]]

== Sinusoidal Software and Robotics ==
Company Page : [[https://sinusoidal.com.tr]]

Magistral Series BLDC Driver Datasheet : [[https://sinusoidal.com.tr/datasheets/BLDCDriver_Datasheet_v0.pdf]]

Github Repo : [[https://github.com/muratkayamurat/MagistralBldcDriver]]

Store : https://sinusoidal.com.tr/Store.html

=== Magistral Series BLDC Driver ===
Magistral series are a high performance, cost-effective, 3phase BLDC motor 
drivers. The design of Magistal series drivers is based on advanced DSP 
technologies with safety measures. Magistrals can provide high tork, low
noise, low vibration, PID speed loop, PID tork loop, over curent protection, 
over load protection and combined with manual control.

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