I’m trying to control a small electric caterpillar with Ardupilot. The electric motors work with CAN Bus but I don’t have any information about the manufacturer. I have managed to sniff out the information on the CAN Bus that currently drives these electric motors. I assume it will use some common standard in the automotive industry.
I had planned to use an Arduino Nano as an interface with the motors’ CAN Bus and connect it with two PWM inputs to the controller. But now I wonder if maybe this CAN Bus can be integrated directly into the Ardupilot controller.
Is the automotive CAN Bus physically compatible with UAVCAN?
If so, is it possible to make the driver with LUA? At this moment I don’t care about the telemetry that the motors can provide, just sending movement orders.