Bill Finger
51e8fac95a
- Created `python_can.py`: - Implements a CAN message receiver that processes angle, velocity, and enable/disable flags. - Added `python_enable_motor.py`: - Sends enable/disable commands to the motor via CAN. - Added `python_send_angle.py`: - Sends target angle commands over the CAN bus. - Added `python_send_velocity.py`: - Sends target velocity commands over the CAN bus. - Configured all scripts to use `python-can` library with `socketcan` interface for CAN communication.
34 lines
1.1 KiB
Python
34 lines
1.1 KiB
Python
import can
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import struct
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import time
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# Function to send the target speed
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def send_target_speed(bus, target_speed):
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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('V')] + list(struct.pack('<f', target_speed)) # 'V' for the command identifier, followed by the speed 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 speed: {target_speed} m/s")
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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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def main():
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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 speeds...")
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# Target speed
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target_speed = 0.0 # in meters per second
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# Loop to send messages
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while True:
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send_target_speed(bus, target_speed)
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time.sleep(1) # Delay before sending the next message
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if __name__ == '__main__':
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main()
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