README.md

C++ API for Moteus BLDC controller through fdcanusb

This is a c++ API to communicate with MJBOT's Moteus brushless dc motor driver through fdcanusb connected to a Mac or Linux PC.

To try the API without system wide installation?

Compile and run the examples at example_internal folder

to compile try

> cd build
> cmake ..
> make
> sudo ./example_internal/positioncmd

Compile and install in your system

You can install moteusapi on your system and then have a copy of the folder example_external somewhere on your system. running cmake on example_external would be able to find the library on your system.

first comile and install

> cd build
> cmake ..
> make install 

then compile eample_external

> cp -r moteusapi/example_external /your/code/folder/
> cd /your/code/folder/example_external
> mkdir build
> cd build
> cmake ..
> make
> sudo ./positioncmd

Uninstall library:

> make uninstall

How to use the library (as dependency) in an external project?

here is a snippet for your cmake project,

> cmake_minimum_required(VERSION 3.0)
> project(foo)
> find_package(MoteusAPI REQUIRED)
> include_directories(${MOTEUSAPI_INCLUDE_DIRS})
> add_executable(foo foo.cpp)
> target_link_libraries(foo ${MOTEUSAPI_LIBRARIES})

See the example of external project.

LICENSE

All files contained in this repository, unless otherwise noted, are available under an Apache 2.0 License: https://www.apache.org/licenses/LICENSE-2.0