Context

We are switching out the hoverboard wheels that we currently have with the RMD x8 because these motors are much lighter.

However, these wheels use CAN2.0 rather than CAN-FD. They also have a different library that controls these motors.

Task

Add low-level code to interface with the RMD x8 hardware, add RMD x8 functionality to the RobotInfo and RobotInteface. Modify the drivebase in order to use the RMD x8 motors. You will have to interface with the Nvidia Jetson Orin's GPIO pins in order to interface with the onboard CAN2.0 controller; or perhaps you could use an external CAN->USB adapter.

Resources

A potential library that we can use: https://github.com/2b-t/myactuator_rmd

• It also supports ROS2! Seems interesting
  Here is the website with documentation for the RMD x8 motors: https://www.robotshop.com/products/myactuator-myactuator-rmd-x8-pro-v2-bldc-can-bus-reduction-ratio-19-w-new-driver-mc-x-300o
• Scroll down to "Links"