WIP #3: Wrote simple test to read CAN bus voltage

motor_control/CMakeLists.txt

@@ -77,14 +77,10 @@ else()
 endif()
 
 ## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/phoenix_node.cpp)
-#add_executable(phoenix_node ${PROJECT_SOURCE_DIR}/example.cpp)
-add_executable(example ${PROJECT_SOURCE_DIR}/src/example.cpp)
+add_executable(can_bus_interface ${PROJECT_SOURCE_DIR}/src/can_bus_interface.cpp)
 
 ## Specify libraries to link a library or executable target against
-target_link_libraries(example
+target_link_libraries(can_bus_interface
     ${catkin_LIBRARIES}
     Threads::Threads
     CTRE_Phoenix CTRE_PhoenixCCI CTRE_PhoenixPlatformLinuxSocketCan CTRE_PhoenixCanutils

motor_control/src/can_bus_interface.cpp

@@ -0,0 +1,47 @@
+
+// General C++ includes
+#include <string>
+#include <iostream>
+#include <chrono>
+#include <thread>
+#include <algorithm>
+#include <cstdint>
+
+// Phoenix libraries
+#include "ctre/Phoenix.h"
+#include "Platform-linux-socket-can.h"
+
+// ROS libraries
+#include "ros/ros.h"
+#include "geometry_msgs/Twist.h"
+
+// Global pointers for each motor controller
+
+int main(int argc, char **argv) {
+
+    // Initialize ROS node
+    ros::init(argc, argv, "can_bus_interface");
+    ros::NodeHandle n;
+
+    // Initialize CAN bus
+    std::string interface = "can0";
+    ctre::phoenix::platform::can::SetCANInterface(interface.c_str());
+
+    // Create a Talon object
+    ctre::phoenix::motorcontrol::can::TalonSRX fl(1);
+
+    ros::Rate loop_rate(1);
+
+    // Loop
+    while (ros::ok())
+    {
+        // Read information from the Talon
+        std::cout << "Current voltage: " << fl.GetBusVoltage() << std::endl;
+
+        // Pause at loop rate
+        loop_rate.sleep();
+    }
+
+
+    return 0;
+}