text: /**
   * File for testing Motor Controller and verifying CAN2 functionality
   * 
   * The user sets "id" to be the desired Motor Controller command ID 
   * and "data[8]" to be the desired message. The test outputs the id 
   * and message that is received by the Motor Controller. "Success" 
   * is 1 if the message recieved is the expected message.
   */ 
  #include "common.h"
  #include "config.h"
  #include "MotorController.h"
  
  int main(){
      
      MotorController_Init();
      float input1 = 2500.0f;
      float input2 = 1.0f;
      MotorController_Drive(input1,input2);
      usleep(1000000);
      CANbuff tester = {0, 0, 0};
      uint32_t id = 0x243;
      uint8_t data[8] = {0x00, 0x55, 0x55, 0x22,     0x11, 0x11, 0x11, 0x11};
      //BSP_CAN_Write(CAN_2, id, data, 8);
      bool check = MotorController_Read(&tester);
      printf("The ID on the bus was: %x\n\rMessage: %x, %x\n\rSuccess: %d",tester.id, tester.firstNum, tester.secondNum, check); 
      exit(0);
      
  }