Although the iCub comes with a custom quad-can interface card, for debugging it is sometime convenient to have an extra can bus interface: Yarp has a device driver for the ESD CAN bus mini controller.
The table below reports the details. See the bill of materials for exact quantities.
|RobotCub code||Description||Manufacturer||Manuf. code||Supplier||Suppl. Order code||Suppl. Phone number||Suppl. Email/Website|
|91||ESD - USB to CAN Interface, from USB 1.1 to 9-pole male DSUB, supply via USB, dimension 55x55x25 mm||ESD||C.2064.02||ESD||C.2064.02||+49 511 372980||ESD Inc.|
Information about the Yarp device driver and motor control interface can be found in the software documentation. For example see:
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