.. _motor_control:

#############
Motor Control
#############

The motors on CURTmini are of type MD80 from MAB robotics.

+-------------+----------+
| Motor       | Drive ID |
+=============+==========+
| Front Right | 100      |
+-------------+----------+
| Front Left  | 101      |
+-------------+----------+
| Back Right  | 102      |
+-------------+----------+
| Back Left   | 103      |
+-------------+----------+

A `fixed version of the candle_ros2 package`_ for ROS 2 Jazzy is provided and already installed.
Motor control is handled through `ros2_control`_.
A `hardware interface`_ is provided for CURTmini, bridging ros2_control to candle_ros2.

The nuc also has the `mdtool`_ motor configuration software preinstalled and configured.

.. _`ros2_control`: https://control.ros.org/jazzy/index.html
.. _`fixed version of the candle_ros2 package`: https://github.com/ipa323/candle_ros2
.. _`hardware interface`: https://github.com/ipa320/curt_mini/tree/main/ipa_ros2_control
.. _`mdtool`: https://mabrobotics.github.io/MD80-x-CANdle-Documentation/software_package/legacy/MDTOOL.html