Programming website

[JohnGaby]

The motor controllers it can currently handle use PWM, both simple a PWM signal which controls the duty cycle of the motor (via an H-Bridge), or a servo like PWM signal where the pulse width controls both the speed and direction of the motor.

I am not familiar with CAN bus controllers other than the TALON SRXs used by FRC.

Documentation for the Java classes can be found on the website:

http://programming.sdarobotics.org/R...annotated.html

[cbf]

Ah, if I'd discovered this sooner, we might have been tempted to try to add CAN bus support. Maybe post-season.

In the meantime, for reference: Here's a tutorial on setting up CAN bus for Raspberry PIs and Arduino's (and Intel Galileo). The hardware is a little clunky though (DB9s are a little big for the robot. I'd rather just have terminals for twisted pair.

[JohnGaby]

Thanks for the link, but I have actually already seen it. The problem isn't so much figuring out how to talk on the CAN bus, but figuring out how to properly talk to the TALON SRX. As I said, in researching the topic (I had hoped I could find someone who had already done it) I discovered that the FRC TALONs use an encrypted keep-alive signal that is impossible to reproduce outside the FRC framework. Fortunately, the TALON manufacture provides alternate firmware that you can flash the TALONs with that gets around this problem. However I looked at the FRC source code for handling the TALONs and it is quite involved and I simply have not had the time to try and sort it out.