Testing and Debugging

This section will guide you through testing and debugging the firmware.

Testing CAN Bus

After setting up the CAN bus, you can use the candump utility to monitor CAN messages:

candump can0

To check if your CAN bus is working, you can send messages between two CAN buses in a pseudo-loopback setup:

To do this, physically connect two CAN buses together. Then, send a message from one bus to the other:

candump can0

cansend can1 123#FEEDBACC

You should see the message echoed back on the other bus:

Testing Robstride Motors

For a quick and dirty test of the Robstride motors, you can use the robstride CLI:

pip install robstride

The Robstride CLI can be used to read, write, and update the CAN ID of the Robstride Motors.

Example usage:

robstride --interface socketcan --channel can0 enable [can_id]
robstride --interface socketcan --channel can0 read [can_id] loc_ref
robstride --interface socketcan --channel can0 write [can_id] loc_ref [value]
robstride --interface socketcan --channel can0 update_id [can_id] [new_id]
robstride --interface socketcan --channel can0 disable [can_id]