STRAIDE setups comprise multiple actuation towers, each with 4 motors and a PCB stack on top. It is a stack of an Arduino Uno, an Ethernet Shield, a custom PCB to reroute pins, and an CNC Shield. The Uno runs the software from this folder. It uses the Ethernet Shield to connect to a network and WebSockets to connect to the central server. Commands are mapped to the motor positions, including setup, calibration, and handling of direct user input.
In defines.h, you need to adjust the SLAVE_ADDR for each individual actuation tower. Also, the IPAddress serverIP(X.X.X.X) and IPAddress clientIP(X.X.X.X) needs to be set up to fit the network.
Element Position: 0x30 | messageID | M0 (high) | M0 (low) | M1 (high) | M1 (low) | M2 (high) | M2 (low) | M3 (high) | M3 (low) (positions for each motor M: high<<8+low)
Parameter: 0x20 | ParamID | high | low (ParamID: 0x01-speed, 0x02-acceleration)