reCamera Gimbal Programmable Development Kit V1.0

Introduction

Welcome to reCamera Gimbal Programmable Development Kit. We provide sample code to debug the gimbal motor's operation and status output. We offer program entry points to drive the gimbal motor using RS485 or CAN, enabling precise control and functionality.

Install

pip install -e git+https://github.com/AllenKon/Seeed_reCamera_Gimbal.git#egg=reCamera_Deploy --no-deps

Gimbal Structure & Assembly

You can download the STL file of this gimbal for 3D printing and assemble it. (Url: https://makerworld.com/zh/models/536713)

Assembly

None.(Waiting to write)

Instructions for using

Motor ID Set

ID changes can be made using MS_Motor/LK motor tool V2.35.exe. Connect the PC (Windows) to the USB-RS485 module, with A, B, and GND of the USB-RS485 module connected to A, B, and V- of the motor. Connect the positive and negative terminals of a 12V power supply to V+ and V- of the motor to enable parameter changes. For further instructions on using LK motor tool V2.35.exe, refer to MS_Motor/Upper_monitor_motor_debuging_instruction.pdf.

Only two motors are used in this head, so it is sufficient to set the IDs of the two motors to 01 and 02 respectively.

USB-RS485 Analyzer

If you want a RS485 Bus Analyzer to debug your RS485 Bus, this USB-RS485 Analyzer is recommended.

Hardware Overview

The actual internal wiring diagram is as follows.

You can use the Debugging Port connections to control the motor and communicate with the reCamera via the upper monitor. Alternatively, you can control the motor directly through the reCamera.

Deploy in reCamera

This step requires TinyCC to be installed on reCamera.

Open a terminal in the directory where Deploy_Linux.c is stored.

scp ./Deploy_Linux.c root@192.168.42.1:~/

ssh root@192.168.42.1

The serial port name can be obtained by terminal. It is usually ttyS0.

ls /dev/ttyS*

Open Deploy_Linux.c and change the serial port name on line 160.

vi ./Deploy_Linux.c

Compile Deploy_Linux.c and run it.

cd ~/
tcc -o test Deploy_Linux.c
./test

Deploy to Upper Monitor

Upper Monitor Control

Python

Open a terminal in the root directory while making sure Python is installed.

python Deploy_Python.py

Then just enter the angle (0-360 degrees) for both motors.

C++

Make sure your system (Win or Linux) has g++ installed, open a terminal in the root directory.

Win

Open Deploy_Win.cpp and change the serial port name on line 125. The serial port name can be obtained by opening the Device Manager.

g++ Deploy_Win.cpp -o Deploy_Win.exe

Linux

Open Deploy_Linux.cpp and change the serial port name on line 160. The serial port name can be obtained by terminal.

ls /dev/ttyUSB*

g++ Deploy_Linux.cpp -o Deploy_Linux
./Deploy_Linux

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