servo/controller/fw/bootloader/test/README.md

CAN Communication Scripts

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.

Prerequisites

1. Python 3.7+ installed on your system.
2. python-can library installed. Install it via pip:

   pip install python-can
   

3. SocketCAN interface properly configured on your Linux system. The default channel is can0.

Usage

1. Receiving CAN Messages

The script python_can.py listens to the CAN bus and processes incoming messages.

Run:

python3 python_can.py

Features:

• Processes messages with data length 5.
• Parses the first byte (flag) to determine the type:
  • 'A': Angle (float).
  • 'V': Velocity (float).
  • 'E': Enable/disable status (boolean).

2. Enabling or Disabling the Motor

The script python_enable_motor.py sends commands to enable or disable the motor.

Run:

python3 python_enable_motor.py <0|1>

Arguments:

• 0: Disable the motor.
• 1: Enable the motor.

3. Sending Target Angle

The script python_send_angle.py sends a target angle to the CAN bus.

Run:

python3 python_send_angle.py

Behavior:

• Sends a message with a predefined target angle every second.
• Adjust the target angle in the script (target_angle variable).

4. Sending Target Velocity

The script python_send_velocity.py sends a target velocity to the CAN bus.

Run:

python3 python_send_velocity.py

Behavior:

• Sends a message with a predefined target velocity every second.
• Adjust the target velocity in the script (target_speed variable).

Configuration

CAN Interface

The scripts use the following default CAN bus settings:

• Channel: can0
• Bitrate: 1 Mbps

If your configuration differs, update the Bus() initialization in the scripts.

Troubleshooting

1. "Error initializing CAN bus":
   • Ensure your CAN interface is correctly configured and active:

     sudo ip link set can0 up type can bitrate 1000000