[High Priority] CAN Bus Interface

[SwapnilPande]

Which section of robot code is this for?
CAN Bus Interface

Description of feature

• Develop a class to interface with the CAN Network on the robot:
  • Connect to network
  • Send commands
  • Receive commands
• Develop ROS Node for the interface to run on the Raspberry Pi

[partlygloudy]

For some reason the latest version of the phoenix libraries doesn't seem to compile on the raspberry pi while the older version (the one Joey had been using) compiles fine. It's possible I'm just doing something wrong but since the two seem more or less the same I guess we'll just stick with the older ones.

[jeholliday]

Just to make sure, we should be using the software found here https://github.com/CrossTheRoadElec/Phoenix-Linux-SocketCAN-Example. I hadn't see that they had released a newer version. I'll check it out on Thursday. We should definitely switch to it if possible because it includes a note there's no longer a FRC vs nonFRC of the latest version of the firmware.

[partlygloudy]

Me and Josh tried compiling the code at that repository but weren't able to. The code we're using now is from that location as well, it's just an older version of it (I just copied the libraries over from the 'motor_control' repository you had been working on a little while back). I agree that we should switch if possible. Luckily, the classes and function names are unchanged for the most part so any code developed with the older version should work with the new one without needing to change much.

[partlygloudy]

[Resolved by Joey, turned out that gcc needed to be updated on the pi - after updating, the library compiled cleanly]

[partlygloudy]

I moved the latest version of the code from the motor_control repository into this one.. lets please do all future development of this code in this repository