87 lines
2.1 KiB
Markdown
87 lines
2.1 KiB
Markdown
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# CAN Communication Scripts
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This repository contains Python scripts for testing and interacting with a CAN bus system. These scripts enable sending and receiving CAN messages to control a motor, set angles, and adjust velocities.
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## Prerequisites
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1. **Python 3.7+** installed on your system.
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2. **`python-can` library** installed. Install it via pip:
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```bash
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pip install python-can
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```
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3. **SocketCAN interface** properly configured on your Linux system. The default channel is `can0`.
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## Usage
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### 1. Receiving CAN Messages
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The script `python_can.py` listens to the CAN bus and processes incoming messages.
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#### Run:
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```bash
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python3 python_can.py
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```
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#### Features:
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- Processes messages with data length 5.
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- Parses the first byte (`flag`) to determine the type:
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- `'A'`: Angle (float).
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- `'V'`: Velocity (float).
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- `'E'`: Enable/disable status (boolean).
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### 2. Enabling or Disabling the Motor
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The script `python_enable_motor.py` sends commands to enable or disable the motor.
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#### Run:
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```bash
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python3 python_enable_motor.py <0|1>
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```
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#### Arguments:
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- `0`: Disable the motor.
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- `1`: Enable the motor.
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### 3. Sending Target Angle
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The script `python_send_angle.py` sends a target angle to the CAN bus.
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#### Run:
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```bash
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python3 python_send_angle.py
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```
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#### Behavior:
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- Sends a message with a predefined target angle every second.
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- Adjust the target angle in the script (`target_angle` variable).
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### 4. Sending Target Velocity
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The script `python_send_velocity.py` sends a target velocity to the CAN bus.
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#### Run:
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```bash
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python3 python_send_velocity.py
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```
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#### Behavior:
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- Sends a message with a predefined target velocity every second.
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- Adjust the target velocity in the script (`target_speed` variable).
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## Configuration
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### CAN Interface
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The scripts use the following default CAN bus settings:
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- **Channel**: `can0`
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- **Bitrate**: `1 Mbps`
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If your configuration differs, update the `Bus()` initialization in the scripts.
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## Troubleshooting
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1. **"Error initializing CAN bus"**:
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- Ensure your CAN interface is correctly configured and active:
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```bash
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sudo ip link set can0 up type can bitrate 1000000
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```
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