Roboteq Motorcontrollers

The TerrainHopper is equipped with two Roboteq MDC2460 (running the two front wheels and the two back wheels independently) and one MDC1460 (running the steering angle servo). The motor controllers are all connected in a CANBUS network and is running Roboteq's CANOpen interface. The CANBUS is running at 250 kbit/s.

CANBUS connection to main computer

The connection between motor controllers and the robot's main PC can be done either by a USB to CAN converter or by using a PCIe CAN card. If a USB converter is used add the following to the file /etc/udev/rules.d/99-ems_can.rules.

SUBSYSTEMS=="usb", ATTRS{manufacturer}=="EMS Dr. Thomas Wuensche", ATTRS{serial}=="xxxxxxx", RUN+="/sbin/ip link set up can0 type can bitrate 250000"

Where "xxxxxxx" is the serial number of the CAN converter.