Difference between revisions of "CAN Protocol"
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===Periodic Communication=== | ===Periodic Communication=== | ||
| + | The Allegro Hand control software attempts to communicate with the real or simulated hand at a regular control interval. Every 3 milliseconds the joint torques are calculated and the joint angles are updated. | ||
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==CAN Frames== | ==CAN Frames== | ||
===Standard CAN Packet=== | ===Standard CAN Packet=== | ||
Revision as of 21:13, 5 October 2012
Contents |
CAN Communication
Baud-Rate
The CAN communication baud-rate is 1Mbps.
Non-Periodic Communication
Messages can be sent to initialize or stop CAN communication.
Periodic Communication
The Allegro Hand control software attempts to communicate with the real or simulated hand at a regular control interval. Every 3 milliseconds the joint torques are calculated and the joint angles are updated.
CAN Frames
Standard CAN Packet
ID (Message Identifier)
Command Identifiers
Source and Destination Identifiers
Case-study: Softing CAN
Opening the CAN Communication Channel
CAN Initialization
Starting Periodic CAN Communication
Stopping Periodic CAN Communication
Transmitting Control Torques
Receiving Joint Angles
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