Hi Samuel,
Regarding your magnet not being responsive, here’s the steps you should take:
- Once
slcanis configured (at 1 Mbps), make sure that the CAN led blinking pattern is correct, see the video in section “Can-related: CAN is up”. Given that the magnet is already showing up in Yakut, I don’t think this is the issue. - The next step is to configure the registers for
uavcan.pub.feedback.idanduavcan.sub.command.id(by default these topic IDs disabled). Detailed instructions can be found in the second post of that forum thread, but I’ll post the essential commands below.
Use the subscribe window and execute the following commands:
yakut register-access 124 uavcan.sub.command.id 1000 # Write topic id value to sub.command.id
yakut register-access 124 uavcan.pub.feedback.id 1001 # Write topic id value to pub.feedback.id
yakut cmd 124 restart # This restarts the device, loading the new topic id values
(These commands assume that node ID is 124, as shown in your screenshot. If your node ID is different, please adjust the command accordingly.)
Now you should be able to turn the magnet on/off by sending a integer8 to the topic ID:
yakut publish -N2 1000:uavcan.primitive.scalar.integer8 0 # off
yakut publish -N2 1000:uavcan.primitive.scalar.integer8 1 # on
To view the feedback:
yakut subscribe 1001:zubax.fluxgrip.feedback --redraw
Let me know if you have any other questions!
PS: Apologies for this additional “configuration” step, this will be fixed in the next version of the firmware.