Guides

Worked examples with code, from a first Python program to a leg, a gravity-compensated arm and two motors coupled over a network. They were written with the Spectral Micro BLDC driver and run unchanged on STEPFOC: the CAN commands and the Python library are the same.

• Python: read a driver's position and speed over CAN
• Quadruped leg: the kinematics and control of a two-motor leg
• Gravity compensation: hold a link against gravity with a current feedforward
• Bilateral teleoperation: two motors that follow each other, with force feedback

More examples, including a mobile robot and the SimpleFOC firmware, are in the Spectral-BLDC-Python examples and in the Spectral Micro documentation.

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