View source for Roboteq Motorcontrollers

=== CANBUS connection to main computer ===
The connection between motor controllers and the robot's main PC can be done either by a USB to CAN converter or by using a PCIe CAN card. If a USB converter is used add the following to the file <tt>/etc/udev/rules.d/99-ems_can.rules</tt>.
 SUBSYSTEMS=="usb", ATTRS{manufacturer}=="EMS Dr. Thomas Wuensche", ATTRS{serial}=="xxxxxxx", RUN+="/sbin/ip link set up can0 type can bitrate 250000"
Where <tt>"xxxxxxx"</tt> is the serial number of the CAN converter.