93 lines
3.1 KiB
Python
93 lines
3.1 KiB
Python
#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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'''
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# @Time : 2025/7/21
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# @Author : hx
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# @File : can_main.py
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'''
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import can
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import time
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# 导入你写的 generate_position_command 函数
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from motor_control_can_all import generate_position_command
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# ========================================
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# 发送CAN帧函数
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# ========================================
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def send_can_frame(data, can_id=0x01, channel='vcan0', interface='socketcan'):
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"""
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发送CAN帧
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:param data: 7字节的列表
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:param can_id: CAN ID
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:param channel: CAN 通道
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:param interface: 总线类型
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"""
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try:
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bus = can.interface.Bus(channel=channel, interface=interface)
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msg = can.Message(arbitration_id=can_id, data=data, is_extended_id=False)
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bus.send(msg)
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print(f"[发送CAN帧] ID={can_id:02X} 数据=[{', '.join(f'0x{x:02X}' for x in data)}]")
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bus.shutdown()
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except Exception as e:
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print(f"[发送失败] {e}")
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# ========================================
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# 监听CAN反馈函数
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# ========================================
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def listen_can_feedback(channel='vcan0', interface='socketcan', timeout=2.0):
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"""
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监听是否有CAN反馈数据
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:param channel: CAN 通道
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:param interface: 总线类型
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:param timeout: 等待反馈的超时时间（秒）
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"""
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try:
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bus = can.interface.Bus(channel=channel, interface=interface)
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print(f"[监听反馈] 等待来自 {channel} 的反馈（{timeout}秒超时）...")
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msg = bus.recv(timeout=timeout)
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if msg:
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print(f"[收到反馈] ID={msg.arbitration_id:02X} 数据=[{', '.join(f'0x{x:02X}' for x in msg.data)}]")
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else:
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print("[未收到反馈]")
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bus.shutdown()
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except Exception as e:
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print(f"[监听失败] {e}")
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# ========================================
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# 主函数：发送位置控制指令并监听反馈
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# ========================================
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def can_motor_contral(direction=0, angle=100, microstep=32, can_id=0x01, channel='vcan0', listen_feedback=False):
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print("=== 开始发送CAN位置控制指令 ===")
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print(f"参数：方向={direction}（0=逆时针，1=顺时针），角度={angle}°，细分={microstep}")
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# 生成CAN数据帧
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can_data = generate_position_command(direction=direction, microstep=microstep, angle=angle)
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print(f"生成的CAN数据帧: [{', '.join(f'0x{x:02X}' for x in can_data)}]")
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# 发送CAN帧
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send_can_frame(can_data, can_id=can_id, channel=channel)
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# 如果启用监听，等待反馈
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if listen_feedback:
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listen_can_feedback(channel=channel)
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print("=== 电机控制流程完成 ===")
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# ========================================
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# 程序入口（直接运行时使用）
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# ========================================
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if __name__ == "__main__":
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# 这里写死参数，方便调试
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can_motor_contral(
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direction=1, # 顺时针
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angle=180, # 180度
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microstep=16, # 细分值16
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can_id=0x02, # CAN ID 0x02
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channel='vcan0', # 使用虚拟CAN
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listen_feedback=True # 是否监听反馈
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) |