CANFuck - FieldBus-driven Fucking Machine Driver

⚠️ This is an experimental, actively unstable driver built only for CANfuck hardware currently ⚠️

CANFuck's goal is to provide a unified integration point for Motors, Controllers, Drivers, and Motion Generation. It handles all of the integration, and exposes a friendly end-user interface for configuration and usage.

This is recommended to be used with either

• Open Source Sex Machine
• LinMot-based Custom Machines

but can be used for any other hardware.

Table of contents
¶ Getting Started
¶ Motion Generation
¶ Drives Supported
¶ Input/Control Methods Supported
¶ Dashboard

Current State

This repository is being actively developed and discussed on the KinkyMakers Discord.

Elims, Vampix, and Zylos are the main devs working towards an improved OSSM/FuckIO/CANfuck driver for open-source sex machines.

There are three improved firmwares currently active

• CANfuck (this one)
• FuckIO
• OSSM-Stroke meant to be used with the M5Remote

I'm working on polishing up the CANfuck repo. experimental/master is pushed to master now. It's still an unstable release, but it does actually work end to end under certain criteria for A1100 drivers.

I have the following roadmap

• Polish/Finish Web Controller UI
• Polish startup/connection with LinMot
• Add Machine Configuration and Status pages
• Add Board Configuration page (For CANfuck vs OSSM hardware)
• Add iHSV57 support to StrokeEngine Experimental
• Productionize CANfuck v3 hardware so it can be assembled by JLCPCB automatically
• Build a release/beta version with flashing instructions on both ESP32 and ESP32-S3 based setups
• Seek out end-user testing of the software on their own machines

Items on the roadmap might change order, or what they are, but I do want to try it out on other people's setups sometime soon. We'll have to see how soon "soon" is though, as it is still a hobby project and it takes a lot of time. Some of these items are entire mini-projects of themselves as well, like the CANfuck v3 hardware.

I've also gotta organize a lot of this work into tickets, put it into a Github Projects or Trello board of some time. I also wanna write up a bunch of Github Wiki documentation on how the internals work. @Draconos hardware will likely be the first test-bed of the CANfuck software on someone elses machine. I've been working with them closely for a lot of the prototyping phase and know their setup should be compatible as they have one of my CANfuck v2 prototypes.

How can I contribute?

Both end-users with hardware willing to test out the software, and other developers are both very much welcome.

Once the above steps are done and we have a stable version to build on top of, we should be able to accept user contributions a lot easier as well. I know we've got several users who are interested in contributing like @muddy.toes, among others.

Of course if anyone is interested in assisting with some of these roadmap items, it will be a bit more complex, but I'd be happy to accept the help.

Getting Started (TODO)

CANFuck is only meant to run on ESP32 hardware, as it has some tight integrations with in. Raspberry Pi's are not a supported target for this software.

CANFuck is built on PlatformIO through VSCode. Arduino IDE is not supported.

git clone --recursive https://github.com/zylos146/CANFuck/

Motion Generation

TODO

Drives Supported

CANFuck started as a driver for CANOpen-based LinMot drivers, but now supports a variety of integation options

• EtherCat
  • CiA 402 - Not yet supported, but might be in the future
    • ❓ LinMot EtherCat CiA 402 capable drives (E1200-DC, etc)
• CANOpen
  • LinMot CiA 402 capable drives
    • ❓ E1200-GP-xx
    • ✔️ E1100-GP-xx
    • ✔️ E1100-CO-xx
    • ✔️ B1100-GP-xx
    • ✔️ A1100-GP-LC
  • Other CiA 402 drives could likely be ported if needed
• ModBus
  • 🕙 iHSV57 V6xx Servos 100/140/180W
  • ❌ iHSV57 V5xx is NOT SUPPORTED due to differing communication protocol with V6xx drivers
• Step/Dir Pulses
  • ✔️ TB6600 drives
  • ✔️ Other generic Step/Dir stepper/servo drives

Input/Control Methods Supported

• 🕙 M5 Remote
• 🕙 MIDI support, so any Control Surface using MIDI can interface with CANFuck
  • For example Control Surface
  • Many other communites have built resources for custom MIDI Controllers, and any of them can be interfaced to CANFuck
• 🕙 Control Websocket
  • Our Control Websocket will allow adjusting user-facing parameters such as Speed, Sensation, and Length
• 🕙 Streaming Websocket
  • Our Streaming Websocket uses a buffered, syncronized (Timecode, Position) tuple to allow directly controlling motion
  • This is best used for content where the Position is known in advanced, such as Videos, Music, and other media/files
• 🕙 T-Code over Serial USB
  • This is a planned integration, but will only be available over a direct USB connection
  • This is because T-Code has hard real-time requirements as a protocol and cannot be safely supported over Bluetooth/Websocket

MIDI Dictionary (TODO - Provide Table of MIDI CC sent / accepted)

Dashboard