Canbus

Introduction

Canbus accepts and executes the control command, and collect chassis status as feedback to control.

Input

• Control command

Output

• Chassis status
• Chassis detail status

Implementation

The major components in canbus module are:

• CAN client
• Vehicle including vehicle controller and message manager

Your own CAN client can be implemented in the folder of can_client by inheriting from CanClient class. Remember to register your CAN client in CanClientFactory.

Your own vehicle controller and message manager can be implemented in the folder of vehicle by inheriting from VehicleController and MessageManager. Remember to register your vehicle in VehicleFactory.