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合并了中英文的readme文件
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‎README.md‎

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# RobStride Motor Control Library README
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## 1. Project Introduction
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This project provides a STM32 (HAL) control demo for the Lingzu Era RS01/RobStride motors, based on the `RobStride.h`/`RobStride01.cpp` motor library. It supports both Lingzu private and MIT protocols, enabling all major control modes (enable, disable, position/speed/current/torque/MIT mode, parameter setting, zeroing, protocol switching, etc.).
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---
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## 2. Getting Started
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- **Hardware Board:** ALIENTEK (Waveshare) Elite STM32F103ZET6 Development Board (tested stable)
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- Project requires STM32CubeMX/Keil or any STM32 HAL-based project
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- Add `RobStride.h` and `RobStride01.cpp` to your project
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- Include `main.h`, `can.h`, `gpio.h`
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- CAN bus must be initialized and the baud rate must match the motor setting
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### Main Loop Example
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It is recommended to use a variable `mode` to switch between different control functions. Each `case` corresponds to a typical function. For details, see the example `main.c`.
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```c
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uint8_t mode = 0; // Set by external input, determines the current function
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while (1) {
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switch(mode) {
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case 0: RobStride_01.Enable_Motor(); break;
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case 1: RobStride_01.Disenable_Motor(1); break;
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case 2: RobStride_01.RobStride_Motor_move_control(5, 0, 0, 0.0, 0.0); break;
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case 3: RobStride_01.RobStride_Motor_Pos_control(2.0, 2); HAL_Delay(5); break;
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case 4: RobStride_01.RobStride_Motor_Speed_control(3.5, 5.0); HAL_Delay(5); break;
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case 5: RobStride_01.RobStride_Motor_current_control(1.2); HAL_Delay(5); break;
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// ... see main.c for more cases
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// MIT protocol dedicated APIs see below
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default: break;
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}
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HAL_Delay(50);
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}
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```
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### CAN Rx Callback Example
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After receiving CAN data, call the analysis function:
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```c
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void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
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if(HAL_CAN_GetRxMessage(hcan,CAN_RX_FIFO0,&RXHeader,RxData) == HAL_OK) {
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if (RXHeader.IDE == CAN_ID_EXT)
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RobStride_01.RobStride_Motor_Analysis(RxData, RXHeader.ExtId);
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else
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RobStride_01.RobStride_Motor_Analysis(RxData, RXHeader.StdId);
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}
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}
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```
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---
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## 3. Main API List
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| Feature | Function Name | Description |
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| ---------------- | ------------------------------------------------------- | ------------------------------------- |
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| Enable motor | `Enable_Motor()` | Enable motor, enter running state |
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| Disable motor | `Disenable_Motor(clear_err)` | Disable, `clear_err=1` to clear error |
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| Torque control | `RobStride_Motor_move_control(t, angle, speed, kp, kd)` | Torque/Speed/Angle composite |
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| PP Position Mode | `RobStride_Motor_Pos_control(speed, angle)` | Position interpolation mode |
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| Speed Mode | `RobStride_Motor_Speed_control(speed, limit_cur)` | Constant speed control |
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| Current Mode | `RobStride_Motor_current_control(current)` | Constant current control |
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| Zeroing | `Set_ZeroPos()` | Set current angle as zero |
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| Parameter read | `Get_RobStride_Motor_parameter(addr)` | Read parameter |
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| Parameter write | `Set_RobStride_Motor_parameter(addr, val, mode)` | Write parameter |
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| Protocol switch | `RobStride_Motor_MotorModeSet(F_CMD)` | Switch to private/Canopen/MIT |
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**MIT Protocol Specific**
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| Feature | Function Name |
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| --------------------- | ------------------------------------------------------------ |
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| MIT Enable/Disable | `RobStride_Motor_MIT_Enable()` / `RobStride_Motor_MIT_Disable()` |
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| MIT Composite Control | `RobStride_Motor_MIT_Control(angle, speed, kp, kd, torque)` |
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| MIT Pos/Speed Control | `RobStride_Motor_MIT_PositionControl(pos, speed)` / `RobStride_Motor_MIT_SpeedControl(speed, cur_lim)` |
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| MIT Error Clear | `RobStride_Motor_MIT_ClearOrCheckError(cmd)` |
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| MIT Zeroing | `RobStride_Motor_MIT_SetZeroPos()` |
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| MIT ID/Mode Set | `RobStride_Motor_MIT_SetMotorId(id)` / `RobStride_Motor_MIT_SetMotorType(type)` |
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| MIT Protocol Switch | `RobStride_Motor_MIT_MotorModeSet(type)` |
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---
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## 4. Important Notes
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- **Protocol switching:** To switch protocol, first use `RobStride_Motor_MotorModeSet(0x**)` or `RobStride_Motor_MIT_MotorModeSet(0x**)`, then power-cycle (reboot) the motor before using new protocol-related functions.
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- **Standard CAN frame ID range is 0x00\~0x7F**; do not exceed this range.
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- **Parameter addresses and details are subject to the RS01 motor protocol manual.**
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- All `Enable_Motor`/`Disenable_Motor` functions auto-adapt to protocol but you should use the appropriate APIs as per protocol when possible.
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- Control parameters: angle in radians, speed in rad/s, current in Amps.
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---
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## 5. FAQ
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- **Q: PP position mode enabled but no movement?**\
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A: Make sure to set an appropriate target speed (e.g. 2\~5 rad/s) with `RobStride_Motor_Pos_control`, and check if speed is set via `0x7018`. Use sufficient delays after mode switching.
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- **Q: Wrong CAN ID in MIT commands?**\
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A: Make sure `CAN_ID` does not exceed 0x7F; if you see IDs like 0x47F, check your ID assignment and masking in code.
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- **Q: No response from motor?**\
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A: Check CAN bus wiring, baudrate, power supply, and make sure the master and motor IDs/protocol match.
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---
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## 6. References
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- RS01 Motor Protocol Manual
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- This library source code and main.c example
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---
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## 7. Contact
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For support, contact the author or RobStride technical support.
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---
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‎README_en.md‎

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