open-dynamic-robot-initiative / blmc_drivers Goto Github PK

The description for CAN protocol used link does not work

https://atlas.is.localnet/confluence/display/AMDW/BLMC+-+CAN+Interface

Does this example need hardware slider connected to the A6,B6 pins of TI board?

Hi guys, I am getting the following error when trying to communicate with the robot:

WARNING: Something went wrong with sending CAN frame, error code: -1, errno: 105. Possibly you have been attempting to send at a rate which is too high. We keep trying
waiting for board and motors to be ready 

Any idea what the problem should be?
I've already tried reducing the communication rate (from 1 kHz to 100 Hz) but that didn't solve the issue.
I'm currently using a leg of Solo with TI boards. I'm quite sure the hardware is find because it was working with the previous version of the software (with ros 1). Now I'm trying to make it work with the latest version of the software stack.

I am doing single motor test using "demo_sine_pos_1_motor".
As far as i know,the demo code “demo_2_motors” of blmc_drivers is a demo to control motor track the slide pos using PD.

If i hold the motor to make it can’t spin when “demo_2_motors” running, soon i will receive an error which error code=2( 2 means can recv timeout).

Is this normal or abnormal？