35 lines
1.1 KiB
Python
35 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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# Main function
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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 speed impulses...")
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# Send impulses of target speed from -2 to 2 m/s
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target_speeds = [-1, 1]
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while True:
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for speed in target_speeds:
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send_target_speed(bus, speed)
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time.sleep(1) # 1-second delay between messages
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if __name__ == '__main__':
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main()
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