CAN Bus

Handles the CAN bus communication on the VMX. Specifically used to control the speed of a motor on the Titan.

Description of CAN

vi	Attributes
CAN	CAN bus initialization
Write	CAN bus writing

CAN

Is a class that contains the code for setting the motor speed on the Titan using the CAN bus on the VMX. Has only a HG_LIB output.

Read

A vi that allows for setting the motor speed from the port specified by the Create ID vi.

Inputs and Outputs

Name	I/O	Attribute
CAN in	Input	The input cluster from Create ID
PWM	Input	Motor to control
Duty Cycle	Input	Speed to set the motor at
INA	Input	One of the Directional registers for motor direction
INB	Input	One of the Directional registers for motor direction
error in (no error)	Input	The error input cluster
CAN out	Output	The output cluster to go to Delete ID
error out	Output	The error output cluster

CAN Example

This example controls M0 on the Titan.