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CAN Communication

CAN API tutorial

CAN Communication Tutorial

Please download CAN_tutorial.zip file and follow below steps. 'CAN tutorial.zip' file.

CAN_tutorial.zip contains CMakeList.txt, README and grasp directory.

This tutorial will show how to open & close CAN communication. Also, how to get position data and send pwm to operate Allegro Hand. You will follow step by step with adding sample codes. Source code assumes you have a peak-systems pcan to usb adapter so if you are not using PEAK CAN device, please check your own device CAN api and channel.

Simple Diagram

Below picture shows a structure of a sample program for this tutorial.

Tutorial

Simple Diagram

Read CAN data

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How to Initialize CAN I/O thread and get CAN data.

Send PWM data

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How to send data to Allegro Hand.

Build & Run

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