read_busy.py

#! /bin/env python3

import csv
import struct

def twos_complement(value, bits):
    if value & (1 << (bits-1)):
        value -= 1 << bits
        return value
    return value

with open('CanBus Raw Output.csv', 'r', encoding="utf8") as f:
    reader = csv.DictReader(f, fieldnames=['CMD', 'LEN'], restkey='DATA')
    for row in reader:
        cmd = int(row['CMD'])
        length = int(row['LEN'])

        data = [int(x) for x in row['DATA'][:length]]

        if cmd == 0x201:
            rpm = ((data[0] << 8) + data[1]) / 3.85
            unknown = (data[2] << 8) + data[3]
            kph = (data[4] << 8) + data[5]
            kph = (kph - 10000) / 100
            throttle = data[6]
            unknown2 = data[7]

            #print(cmd, rpm, kph, throttle)
        elif cmd == 0x81:

            # Wheel turn is a signed 16 bit number
            number = (data[2] << 8) + data[3]
            wheel_turn = twos_complement(number, 16)

            # Highest bit indicates wheel is "centered"
            wheel_centered = (data[1] & 0x80) == 0x80

            print ("Wheel turned {turn:3d} degrees {dir}. Centered: {centered}".format(turn=abs(wheel_turn), centered=wheel_centered, dir=("LEFT" if wheel_turn < 0 else "RIGHT")))