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Get MCP working over CAN #170

Open Supernova1114 opened 4 months ago

Supernova1114 commented 4 months ago

The MCP motor controller on the arm is currently using USB. Recently received the CAN dictionary file and so need to write code to communicate over CANOpen. Note to take into account the ODrive docs where it talks about the overlaps of CANOpen and Odrive CAN. CAN dictionary file can be found in the config file in the arm repo.

Supernova1114 commented 4 months ago

https://canopen.readthedocs.io/en/latest/index.html

self.rc.SpeedAccelM1(self.address, GRIP_ACCEL, int(move_dir))

https://github.com/SaddlebackCollegeRobotics/arm_2023_24/blob/main/src/arm/config/MCPCAN.eds