# CAN Interface Documentation

**URL:** <https://discourse.farm-ng.com/t/can-interface-documentation/74>\
**Category:** support\
**Tags:** amiga, challenge-2023\
**Created:** [February 23, 2023, 2:42pm UTC](https://discourse.farm-ng.com/t/can-interface-documentation/74 "2023-02-23T14:42:11Z")\
**Posts on this page:** 6\
**Page:** 1

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**Author:** ![shrijits](https://yyz1.discourse-cdn.com/flex031/user_avatar/discourse.farm-ng.com/shrijits/32/44_2.png) [@shrijits](https://discourse.farm-ng.com/u/shrijits)\
**Post date:** [February 23, 2023, 2:42pm UTC](https://discourse.farm-ng.com/t/can-interface-documentation/74/1 "2023-02-23T14:42:11Z")

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Hey,  
Is there any documentation we can refer to regarding all the CAN ID’s and their message format?  
[Cansniffer Example | Farm-ng Developers](https://amiga.farm-ng.com/docs/examples/cansniffer/) This documentation does allow us to figure out all the different CAN ID’s but doesn’t provide any information regarding what they are being used for our their data format.  
One application for us could be reading the RPM and current draw from the motor controllers or possibly directly controlling the motors for more fine-grained control.

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**Author:** ![kylecoble](https://yyz1.discourse-cdn.com/flex031/user_avatar/discourse.farm-ng.com/kylecoble/32/12_2.png) [@kylecoble](https://discourse.farm-ng.com/u/kylecoble)\
**Post date:** [February 24, 2023, 5:41am UTC](https://discourse.farm-ng.com/t/can-interface-documentation/74/2 "2023-02-24T05:41:16Z")

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Hello,

This is not well documented yet. We will create a release that enables you to read the key values from the motors (current, voltage, & rpm) with a target of mid-next week (March 1).

For individual motor control, we are targeting the last week of March to release that functionality.

We will respond in this thread with updates as they come!

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**Author:** ![kylecoble](https://yyz1.discourse-cdn.com/flex031/user_avatar/discourse.farm-ng.com/kylecoble/32/12_2.png) [@kylecoble](https://discourse.farm-ng.com/u/kylecoble)\
**Post date:** [February 24, 2023, 5:51am UTC](https://discourse.farm-ng.com/t/can-interface-documentation/74/3 "2023-02-24T05:51:31Z")

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One question: Will you be using this in an app on the brain or on the microcontroller?

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**Author:** ![shrijits](https://yyz1.discourse-cdn.com/flex031/user_avatar/discourse.farm-ng.com/shrijits/32/44_2.png) [@shrijits](https://discourse.farm-ng.com/u/shrijits)\
**Post date:** [February 27, 2023, 2:56am UTC](https://discourse.farm-ng.com/t/can-interface-documentation/74/4 "2023-02-27T02:56:22Z")

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Thanks! That’s great to hear  
As of now we will either run this on a brain or a seperate compute unit.

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**Author:** ![Amlan\_Balabantaray](https://yyz1.discourse-cdn.com/flex031/user_avatar/discourse.farm-ng.com/amlan_balabantaray/32/110_2.png) [@Amlan\_Balabantaray](https://discourse.farm-ng.com/u/Amlan_Balabantaray)\
**Post date:** [April 4, 2023, 4:31pm UTC](https://discourse.farm-ng.com/t/can-interface-documentation/74/5 "2023-04-04T16:31:10Z")

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Hi @kylecoble,  
You mentioned that you will be releasing the function to read motors’ current, voltage and rpm by March 1. I wonder if the features are released yet?

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**Author:** ![kylecoble](https://yyz1.discourse-cdn.com/flex031/user_avatar/discourse.farm-ng.com/kylecoble/32/12_2.png) [@kylecoble](https://discourse.farm-ng.com/u/kylecoble)\
**Post date:** [April 4, 2023, 4:58pm UTC](https://discourse.farm-ng.com/t/can-interface-documentation/74/6 "2023-04-04T16:58:59Z")

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> [@Amlan\_Balabantaray](#):
>
> You mentioned that you will be releasing the function to read motors’ current, voltage and rpm by March 1. I wonder if the features are released yet?

Yes, this feature was released! Sorry we should’ve replied here as well when it was announced last month.

> [@Farm-ng-amiga v0.0.6 Released](https://discourse.farm-ng.com/t/farm-ng-amiga-v0-0-6-released/98):
>
> loudspeaker [farm-ng amiga v0.0.6 Release](https://github.com/farm-ng/farm-ng-amiga/releases/tag/v0.0.6)rocket We have released an farm-ng-amiga v0.0.6 update, the API for intersecting with the AmigaOS services. What’s changed since v0.0.5 Add experimental people detection API Adds the ability to stream MotorStates from the canbus service Contains: RPM, current, voltage, & temperature What to know This update is fully backwards compatible with v0.0.5 This update corresponds to the [AmigaOS v1.1.0](https://discourse.farm-ng.com/t/amigaos-v1-1-0-released/96/2) release What to do You can upgrade the farm\_n…

We also have an example available using this called **`motor_states_stream`** :

> **[farm-ng-amiga/py/examples/motor\_states\_stream at main · farm-ng/farm-ng-amiga](https://github.com/farm-ng/farm-ng-amiga/tree/main/py/examples/motor_states_stream)**
>
> Amiga development kit for third party hardware or software extensions - farm-ng/farm-ng-amiga

– Kyle