Skip to main content
Anh Duc Tran

Embedded · 2026

Teensy–Robstride Bridge

A hardware and software bridge that lets a PC reliably control multiple robot motors over Ethernet.

Teensy 4.1 · UDP · CAN · Robstride O2 · C++

Code
Three Robstride O2 motors with Teensy control board

Bench setup: Teensy 4.1 and three Robstride O2 motors.

The project

Goal
Give a PC a simple, predictable way to command motors that speak a vendor CAN protocol.
Approach
Put a Teensy between the PC and the motors: receive command batches over UDP, forward them on CAN, wait for feedback from every motor, then accept the next batch.
Outcome
Steady control timing for teleop, logging, or higher-level controllers — with open-source firmware and host demos.

PC → Teensy → motors

The PC sends one command batch. The Teensy forwards it to the motors and waits until each motor responds before accepting the next batch.

PC → Teensy → motors, with synchronized feedback each cycle.

Why the sync matters

Without waiting for every motor, command timing drifts and debugging becomes messy. Round-based Type 2 feedback across up to three daisy-chained O2 motors keeps the loop steady.

What the software includes

  • Teensy firmware and C++ helpers for O2 frames
  • Threaded host UDP client and CMake PC demos (comm test, MIT mode, multi-motor)
  • Bring-up sketches and optional timing logs with a Python plot script

Default path uses UDP port 8003 on a small static LAN.