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LKM MF4005 Brushless Motor Driver

The MF4005 is a Brushless, Permanent Magnet motor manufactured by LK Motor company, it offers both torque, velocity and position closed loop control, and it can be controlled via CAN network.

This Zephyr driver implements the CAN transport to the MF4005, it includes the commands like torque, velocity and position, making it suitable for general motion control applications and robotics low-level controllers.

You can find more about this motor here: http://en.lkmotor.cn/Product.aspx?TypeID=17

Adding The Driver to your project via west

The recommended way is to use west to initialize this repository directly and all its dependencies:

$ west init -m https://github.com/uLipe/lkmotor_mf4005_driver
$ west update

Alternatively you can add a local copy of this module by adding the following sections to zephyr/west.yml:

  1. In the manifest/remotes section add:
remotes:
  - name: uLipe
    url-base: https://github.com/uLipe
  1. In the manifest/projects section add:
- name: lkmotor_mf4005_driver
  remote: uLipe
  path: modules/lib/lkmotor_mf4005_driver
  revision: main

3. Save the file, and run west update from the project root to retrieve the latest version of the library from Github, or whatever revision was

Playing with your motor:

After setting up zephyr, you can enable the options, CONFIG_LKMOTOR_MF4005_DRIVER, and, CONFIG_MF4005_DRIVER_SHELL to enable the driver and the shell of the motor driver, you can also refer samples/mf4005_shell to have something to get started.