CANdleTool

CANdleTool#

CANdleTool is a program with a set of utilities intended to help the user in configuration and testing of MD products.

Main Features#

CANdleTool main features

  • Updating software in all of MAB devices.

  • Downloading debug information and configurations from the target device.

  • Uploading configuration to the device.

  • Testing device functionalities.

Distribution#

We distribute whole CANdle-SDK package as free and open source software via github under MIT license.

We also provide binaries for the CANdleTool package via releases on github and in the downloads section of this document.

We distribute packages for apt package manager for architectures x86_64, arm64 and armhf (not recommended), as well as an installer for Windows x86_64. All of them can be found on release pages.

Installation#

For installation and integration instructions checkout README file of the main repository.

Note

Checkout the release pages for binaries for apt and windows.

Usage#

CANdleTool is a CLI program. You can issue commands using CLI interface, for example:

candletool md blink --id 100

will blink built-in LEDs on MD controller.

candletool md test relative 10.0 --id 100

This command will make a MD driver connected to the CANdle device move 10.0 radians counter-clockwise using Impedance Mode motion controller.

To explore different commands the user can always use -h option.

$ candletool -h

   ___     _     _  _      _   _         _____               _
  / __|   /_\   | \| |  __| | | |  ___  |_   _|  ___   ___  | |
 | (__   / _ \  | .` | / _` | | | / -_)   | |   / _ \ / _ \ | |
  \___| /_/ \_\ |_|\_| \__,_| |_| \___|   |_|   \___/ \___/ |_|

For more information please refer to the manual: https://mabrobotics.pl/servos/manual



candletool [OPTIONS] [SUBCOMMAND]


OPTIONS:
  -h,     --help              Print this help message and exit
  -d,     --datarate TEXT:{1M,2M,5M,8M} [1M]
                              Select FD CAN Datarate CANdleTOOL will use for communication.
          --bus TEXT:{USB,SPI} [USB]
                              Select bus to use (only for CandleHAT).
          --device TEXT       For SPI: {path to kernel device endpoint} | For USB: {device
                              serial number}
  -v{1},  --verbosity{1} [0]  Verbose modes (1,2,3)
          --version           Show software version
  -s,     --silent            Silent mode
          --log               Redirect output to file

SUBCOMMANDS:
  candle                      CANdle device commands.
  md                          MD commands.
  pds                         Tweak the PDS device

For more details visit Commands section.

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