Bill Finger
74c5b1d12c
- Improved error handling in `python_enable_motor.py` by capturing and displaying exception details. - Ensured proper CAN bus shutdown in `python_enable_motor.py` with a `finally` block. - Refactored `python_send_angle.py` to accept a command-line argument for the target angle instead of looping indefinitely. - Refactored `python_send_velocity.py` to accept a command-line argument for target speed and removed infinite loops for better usability. - Added `send_velocity_impulses.py`, a new script to send alternating velocity impulses over the CAN bus.
37 lines
1.2 KiB
Python
37 lines
1.2 KiB
Python
import can
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import struct
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import time
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import argparse
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# Function to send the target angle
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def send_target_angle(bus, target_angle):
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msg = can.Message()
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msg.arbitration_id = 1 # Message ID
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msg.is_extended_id = False
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msg.dlc = 5 # Message length
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msg.data = [ord('A')] + list(struct.pack('<f', target_angle)) # 'A' for the command identifier, followed by the angle in float format
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try:
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bus.send(msg)
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print(f"Sent message with target angle: {target_angle} degrees")
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print(f"Message data: {msg.data}")
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except can.CanError:
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print("Message failed to send")
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# Main function
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def main():
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parser = argparse.ArgumentParser(description="Send target angles over CAN bus.")
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parser.add_argument("--angle", type=float, required=True, help="Target angle to send over the CAN bus")
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args = parser.parse_args()
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target_angle = args.angle
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# CAN interface setup
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bus = can.interface.Bus(channel='can0', bustype='socketcan', bitrate=1000000) # Ensure the bitrate matches the microcontroller settings
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print("CAN bus initialized, sending target angles...")
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# Loop to send messages
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send_target_angle(bus, target_angle)
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if __name__ == '__main__':
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main()
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