ROS driver for the SyRen 10 and SyRen 25 motor drivers. See the SyRen user's guide.
Originally targeting the Arduino and Beaglebone (Black) platforms.
Two output lines on the Robot computer are needed in order to interface with a SyRen, one to transmit serial data (connects to S1), and an active-low Emergency Stop signal (connects to S2)
The SyRen should be configured for Operating Mode 4: Packetized serial.
This appears to be, by far, the 'safest" of the four operating mode; the SyRen will perform a checksum integrity check on incoming data, it includes commands to configure minimum and maximum battery voltage levels for operation, and it includes a dedicated E-stop channel.
standard ROS-style of documenting this...
- Drive Command
- E-stop Request
- Set minimum battery voltage
- Set maximum battery voltage