Real-Time Robotics Framework

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====== CAN Receive ======
This block receives raw CAN messages from one or several MYACTUATOR RMD-X series drives. The block outputs the position information of the drives on its output signal. 

The control system must incorporate a block for sending and another one for receiving CAN messages. 

[{{ :eeros_architecture:control_system:available_blocks:canrawcontrolsystem.png?600 |//Control system for CAN// }}]

The block for sending will periodically send a CAN message while the receiving block gets the current information from the drive. It is important that the sending block is run after the block for receiving CAN messages.

The position output gives a signal in SI units, e.g. rad. To account for encoder resolution of the actual drive together with a gearbox, it is possible to set a scaling factor with
<code cpp>
void setScale(Matrix<N,1,double>& scale);
</code> 
This blocks uses the [[https://gitlab.ost.ch/tech/inf/public/canopenlib|CANopen Library]]. Make sure to install this library following [[https://wiki.eeros.org/getting_started/install_wrapper#canopen|]].