CAN Setup

This guide covers setting up the CAN interface for use with DaMiao motors.

Prerequisites

• Linux operating system
• CAN interface hardware (USB-CAN adapter, CAN-capable board, etc.)
• SocketCAN drivers

Basic CAN Setup

1. Check CAN Interface

List available network interfaces:

ip link show

Look for can0, can1, or similar interfaces.

2. Bring Up CAN Interface

sudo ip link set can0 up type can bitrate 1000000

This sets up can0 with a 1 Mbps bitrate.

3. Verify Interface

ip link show can0

You should see the interface is UP.

Testing CAN Interface

Using candump

sudo apt-get install can-utils
sudo candump can0

This will show all CAN messages on the bus.

Using damiao scan

# Motor type is optional (defaults to 4310)
damiao scan --channel can0

Troubleshooting

Interface Not Found

• Check hardware connection
• Verify drivers are loaded: lsmod | grep can
• Check dmesg for errors: dmesg | grep can

Permission Errors

You may need to run with sudo or add your user to a group with CAN access:

sudo usermod -a -G dialout $USER

Then log out and back in.

Bitrate Mismatch

Ensure the CAN bitrate matches your motor configuration. Check motor firmware settings.

Multiple CAN Interfaces

If you have multiple CAN interfaces:

sudo ip link set can0 up type can bitrate 1000000
sudo ip link set can1 up type can bitrate 1000000

Then specify the channel in your code:

controller = DaMiaoController(channel="can1", bustype="socketcan")