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Pulsar Python SDK

CAN

Use PcpOverCan for a bus connected through one Pulsar USB-to-CAN adapter.

Scan

from pulsar_sdk import PcpOverCan

with PcpOverCan("/dev/ttyACM0") as can:
    print(can.scan())

from pulsar_sdk import PcpOverCan

with PcpOverCan("COM3") as can:
    print(can.scan())

The default scan range is 16–255. Actuator addresses must be unique within the domain and lie in 16–16382.

Connect an actuator

from pulsar_sdk import PcpOverCan, PulsarActuatorReal

can = PcpOverCan("/dev/ttyACM0")
actuator = PulsarActuatorReal(can, address=20)

from pulsar_sdk import PcpOverCan, PulsarActuatorReal

can = PcpOverCan("COM3")
actuator = PulsarActuatorReal(can, address=20)

Several actuators on the same bus must reuse the same PcpOverCan object.

CAN bit-rate switching

set_can_brs_enabled() coordinates the setting across connected actuators while output is inactive:

with can:
    can.set_can_brs_enabled(True)

Treat BRS as a bus-wide configuration. All devices must be compatible and configured consistently.

Capacity

More than eight registered actuators is permitted, but the SDK emits a telemetry-utilization warning. Select only required telemetry and estimate the bus load with the CAN bus utilization tool.

For multi-actuator composition, continue with Groups and platforms.