PneuDrive

PneuDrive is a realtime control platform for soft pneumatic robotics (SPRs).

It offers an easy way to access advanced embedded control features, like real-time control, high performance computation and real-time communication, for multiple-chambered SPR projects, ideal for quickly deploying pneuamtic projects with small effort.

Features

• Real-time control -- 1 KHz control loop
• Fast communication -- serial transmission with up to 1KHz frequency -- EtherCAT for real-time remote control
• Large input and output extensibility -- built-in 16-channel Analog-in ports, 26 PWM-out ports -- extensible to any number of Analog-in or PWM-out with ease
• Hardware accelerated computation -- built-in PID, kalman filters

Data Transmission:

• EtherCAT (expansion board I-NUCLEO-NETX)
• serial transmission
• Non-blocking variable size serial receving (using DMA and input idleline Detection)

control:

• Simple Kalman filter (Using CMSIS DSP library, who exploits fast hardware computation)
• Advanced PID controller
• simple Sliding mode controller

Getting Started

Prerequisites

Hardware:

• STM32F767ZI-Nucleo board
• I-NUCLEO-NETX(optional)
• ADS8588 board(optional)
• LTC2668 board(optional)
• other sensors(optional)

Software:

• STM32CubeMX
• SW4STM32
• cifX toolkit form Hilscher

Installing

Deployment

Authors

• Xiaojiao Chen

License

This project is licensed under the MIT License - see the LICENSE.md file for details

Acknowledgments