Change CAN interface from a SPI breakout to direct CAN. #1
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Thanks! Yeah, I'm not sure of the best way to incorporate it either. For now I'll leave this PR open to give as a reference to people, and if you think of a better way, let me know! |
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Hello, I edited the Moteus class CAN code to change from a typical SPI breakout board to direct CAN support using ACAN_T4 library. This is useful on Arduino boards where we actually have CAN hardware available such as the Teensy 4.x. Just hook up a transceiver and you are good to go. I dont think this should go into the main branch but maybe you can find a better way to implement this feature. It was not much code.
I tested successfully today and had no problems.