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LAUNCHXL-F28069M: Adding CAN communication between multiple Launchxl-F28069M's in instaspin labs

Aiden Brendemihl
Prodigy 60 points

Part Number: LAUNCHXL-F28069M

Hello,

I would like to add comunication between Launchxl-F28069M's so each MCU can know the other motors position for a control system I am working on. I already have the motors working individually but I would like to add communication between them. I beleive CAN would be easiest, I already have UART for debugging and plotting values in real time and I would like to reserve that feature. If there is an easier way to add comminication between boards I would be open to suggestions as well. 

Please let me know if there are suggestions in how to integrate this or any include files I can add such as a can.c file. 

Thanks!