servo/controller/fw/embed/test/python_send_velocity.py
Bill Finger 74c5b1d12c Enhance CAN bus scripts with argparse and error handling
- 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.
2025-02-04 13:41:05 +03:00

36 lines
1.2 KiB
Python

import can
import struct
import argparse
# Function to send the target speed
def send_target_speed(bus, target_speed):
msg = can.Message()
msg.arbitration_id = 1 # Message ID
msg.is_extended_id = False
msg.dlc = 5 # Message length
msg.data = [ord('V')] + list(struct.pack('<f', target_speed)) # 'V' for the command identifier, followed by the speed in float format
try:
bus.send(msg)
print(f"Sent message with target speed: {target_speed} m/s")
print(f"Message data: {msg.data}")
except can.CanError:
print("Message failed to send")
# Main function
def main():
parser = argparse.ArgumentParser(description="Send target speed over CAN bus.")
parser.add_argument("--speed", type=float, required=True, help="Target speed to send over the CAN bus (in m/s)")
args = parser.parse_args()
target_speed = args.speed
# CAN interface setup
bus = can.interface.Bus(channel='can0', bustype='socketcan', bitrate=1000000) # Ensure the bitrate matches the microcontroller settings
print("CAN bus initialized, sending target speed...")
# Send the message once
send_target_speed(bus, target_speed)
if __name__ == '__main__':
main()