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Unread 12-04-2015, 08:13 PM
DngrousElectrcn DngrousElectrcn is offline
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Talon SRX with an Arduino CAN shield

I am trying to make a Robot Operating System (ROS) node for controlling a Talon SRX.
My plan is to take the CanTalonSRX code from wpilib and write a custom CAN driver to replace the CAN driver the roborio uses. I will be using an Arduino with a CAN shield as a serial to CAN bridge.

Currently, I have debugging code in the CAN driver that prints out what the CanTalonSRX driver is trying to send over the CAN bus.

When I run:
Code:
CanTalonSRX motor(0);
motor.Set(.1);
it tries to send the following to the CAN bus:
Code:
33816576	0	0	0	0	0	0	0	0
33816576	0	0	0	0	102	32	0	0
The first digit is the ID field of the frame and the next 8 numbers are in the data field.
The first line is sent when the CanTalonSRX object is constructed and the second line is sent by motor.Set(.1).

I used the arduino to send [0 0 0 0 102 32 0 0] continuously as a test to see if I could get the motor spinning.
Needless to say, it did not spin. The lights on the Talon SRX are alternating flashing orange though.

Does anyone know the exact CAN frames a Talon SRX is looking for? The user manual and the software reference manual have no documentation of the exact bytes that are being sent in the CAN frames.
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Unread 12-04-2015, 08:55 PM
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Re: Talon SRX with an Arduino CAN shield

See http://www.chiefdelphi.com/forums/sh...d.php?t=137874
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