CanServo/Protocol/UAVCAN/en

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This is the protocol used when CanServo/MODE/CAN/en = UAVCAN.

If CanServo/MODE/CAN/en = 2.0A, 2.0B, refer to CanServo/Protocol/Control/en.

Because the UAVCAN v0 protocol is very extensive, it only supports the following messages essential for servo control.

Node Status
GetNodeInfo
Actuator.ArrayCommand
Actuator.Status

When changing or reading the register value of the servo, it is used in a way that expands the shape of Actuator.ArrayCommand without damaging it.

Return Message is used by modifying the data part of Actuator.Status. This part does not conform to the UAVCAN standard.

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