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Need for project: A CAN Wrapper for converting ROS2 msgs messages → CAN msgs is messages are essential. This allows They allow us to do precise motor control and get information about the current encoder position for any given motor. These CAN messages not only control the motors but communicate with the motor encoders, allowing us to receive encoder information that can be used for localization in autonomy or for speed reading for the driver GUI.
Goal: Understand the current CAN Wrapper, Replace the motor CAN IDs with new IDs, and test the can with the motors to ensure proper functionality.
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