robomasters1challenge / robomaster_s1_can_hack

DJI RoboMaster S1 CAN Hack

DJI RoboMaster S1 ROS Bridge Package

****This repository will migrate to the following repository soon!!! **** https://github.com/RoboMasterS1Challenge/robomaster_s1_ros_reference_design

This package contains a ROS node package and MINI-M4 STM32 firmware for controlling your RoboMaster S1 through the ROS network. (Nucleo-F767ZI Version is discontined.)

What is this?

You can control DJI RoboMaster S1 motion, LED, Blaster and some commands using ROS messages through ROS1 Network. Raspberry Pi 4B and stm32f4 microcontroller emulate Intelligent Controller of RoboMaster S1.

Preparation

You should prepare these items.

• DJI RoboMaster S1
• Ubuntu PC with STM32CubeIDE
• MINI-M4 STM32
• Raspberry Pi 4B
• Universal board for Raspberry Pi
• CAN Tranceiver breakout board (Like this https://www.amazon.co.jp/dp/B076HHVZM1)
• Wire harnes, 2.54mm Socket and Pins etc.
• DockerPi powerBoard (https://www.seeedstudio.com/DockerPi-PowerBoard-p-4100.html)
• SONY PlayStation4(R) Controller

PS4 Controller Key Map

• Left Axis : Linear X and Linear Y
• Right Axis : Gimbal Pitch and Gimbal Yaw
• Right Axis push : Blaster
• L2 : Enable control

How to install

Install ds4drv for PlayStation4(R) Controller

$ sudo pip install ds4drv

$ git clone --recursive https://github.com/tatsuyai713/robomaster_s1_can_hack.git

Please make symbolic link from "ros" folder to your ROS workspace.

How to make controller board

robomaster_s1_can_hack's Issues

Can boudrate

What is the can boudrate? I did not find it in the code. Is it 1 or 2 mega boud

Can you clatify the can bus connections for this setup?

We are trying to use this code, but it doesn't work in our setup. We still can control gimbal/blaster via Robomaster app and can capture the canbus packets from the "intelligent" controller, but we cannot control motors ("motion" controller) via both joystick and Robomaster app.

Can you please clarify how to you connect Can Bus'es in your setup?

Cannot get two controllers (intelligent and motion) to communicate with each other

We are trying to use your code (thanks alot for publishing it), but cannot get both controllers to negotiate. So intelligent controller keep sending CAN Bus packets to motion controller and motion controller's light stays red and never turned to blue.

Can you explain which CAN interface need to be connected to each controller? I.e. is it can1 connected to intelligent controller and can2 - to motion controller? Is it opposite? Thanks!