Write MIL USB To CAN Board Serial Driver

[andrew-aj]

What needs to change?

To integrate with the USB to CAN board on Sub9 we need a serial driver and communication protocol. The following are the requirements:

• Create a common serial protocol that can be implemented easily in both the ROS environment and board.
• Update the existing Sub9 USB to CAN Board driver located here. Docs on the sub8 and sub9 implementation are located here. The current specification uses class and subclass IDs instead of CAN IDs sent to the board to abstract board types and addresses from the computer. It is recommended to do the same.

How would this task be tested?

1. Create a simulated USB to CAN board to simulate sending and receiving bytes
2. Write unit tests using this simulated board
3. Test with the physical board

Contacts

• [ ] We need help from the mechanical team.
• [X] We need help from the electrical team.
• [ ] We need help from Dr. Schwartz or other faculty.
• [ ] We need help from a company or an organization.
• [ ] We need help from another UF staff member or organization (ex, facilities).