Values for low level control

[JonathanMortes]

Hi,

I was wondering if you had the means of accessing the values for the PD controller. Unitree won't disclose them saying we have to find them out. I think purchasing an EDU version for research and not having the correct values to move the motors is bad more so, being as expensive as it is just to get an SDK badly documented.

Maybe you could help with this as those values are hidden somewhere in the High Level control.

Thanks

[MAVProxyUser]

This will unlikely shake out until we are able to bypass the RDP2 PCROP protection on the STM32 microcontroller they used for the motion controller.

[aatb-ch]

the rs-485/can lines are not encrypted no? other option is sniffing out the traffic between motion controller and motor networks, there you can decode the gains used.

[MAVProxyUser]

You could in theory do that sure. The RS485 is not encrypted.

[MAVProxyUser]

There is no documentation on their RS485 commands short of what @devemin shared.

[aatb-ch]

it's not officially documented no, but it should be possible to somewhat derive the message structure based on the MotorCmd struct, i see now that they comment

https://github.com/unitreerobotics/unitree_actuator_sdk/blob/0f9760ddf4ce06d3936b548aa08fb0e981a4669e/include/unitreeMotor/unitreeMotor.h#L12

Actually this should actually be what you might see on the bus..

https://github.com/unitreerobotics/unitree_actuator_sdk/blob/GO-M8010-6/include/unitreeMotor/include/motor_msg.h

typedef struct
{
    uint8_t head[2];    // 包头         2Byte
    RIS_Mode_t mode;    // 电机控制模式  1Byte
    RIS_Comd_t comd;    // 电机期望数据 12Byte
    uint16_t   CRC16;   // CRC          2Byte

} ControlData_t;    // 主机控制命令     17Byte

[MAVProxyUser]

Also here in a different notation https://github.com/Bin4ry/free-dog-sdk/blob/main/ucl/complex.py#L66