# CAN Launch Procedure
###### tags: `vehicle_platform`
*Updated on 2022-02-03 by Stephen and Kushant*

> This procedure is confirmed to work for the Kvaser USB-CAN interface.

1. Make sure the connections on CAN controller interface look like this

*Vehicle-to-Computer connections by the driver seat*

*Backside of the PCB*

2. `dev_config.local.sh` should contain

ACTIVE_PROFILES="can_interface"

2. make sure you are on the `develop` branch which uses the "V1 CAN driver"
1. commit `de152353ffc7da2cf0674aed1fa2be2d6db48142`

3. initialize and start the network interfaces that are "bound" to the USB-CAN interface kernel driver

sudo ip link set can0 type can bitrate 500000
sudo ip link set can1 type can bitrate 500000
sudo ip link set can2 type can bitrate 33000

sudo ip link set up can0
sudo ip link set up can1
sudo ip link set up can2

# verify with
ip a

4. `watod up can_interface`

5. The tail lights should brighten up, steering wheel should wiggle a bit, and the driver dashboard should display cruise control is standby after bringing up the can interface, signaling that Bolty has entered autonomous mode

6. `watod -t can_interface`

7. publish the steering request ROS message:

rostopic pub /feedback_desired_output embedded_msgs/DesiredOutput "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
theta: 1.0
torque: 0.0
state: 0"

The only lesson we learned from the debugging session is that if the above methods don't work, reboot the computer :)

Steering works.
Light-locking request is broken right now.
Transmission is broken right now.
Throttle is broken right now.