# UAVCAN CLI control on RPi over SSH **URL:** \ **Category:** PyCyphal\ **Created:** [December 22, 2019, 3:47pm UTC](https://forum.opencyphal.org/t/uavcan-cli-control-on-rpi-over-ssh/719 "2019-12-22T15:47:03Z")\ **Posts on this page:** 10\ **Page:** 1
**Author:** ![ka\_ru](https://forum.opencyphal.org/letter_avatar_proxy/v4/letter/k/94ad74/32.png) [@ka\_ru](https://forum.opencyphal.org/u/ka_ru)\ **Post date:** [December 22, 2019, 3:47pm UTC](https://forum.opencyphal.org/t/uavcan-cli-control-on-rpi-over-ssh/719/1 "2019-12-22T15:47:03Z")
I would like to use the CLI to send a new RPM to the Motor. There are examples of a command line. thanks. Andrew. ---
**Author:** ![pavel.kirienko](https://forum.opencyphal.org/user_avatar/forum.opencyphal.org/pavel.kirienko/32/9_2.png) [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\ **Post date:** [December 22, 2019, 3:50pm UTC](https://forum.opencyphal.org/t/uavcan-cli-control-on-rpi-over-ssh/719/2 "2019-12-22T15:50:16Z")
Example for v0: [https://uavcan.org/Implementations/Pyuavcan/Examples/ESC\_throttle\_control/](https://uavcan.org/Implementations/Pyuavcan/Examples/ESC_throttle_control/) Example for v1 (please remove the unnecessary functionality and add a publisher for [`regulated.zubax.actuator.esc.RatiometricSetpoint.0.1`](https://github.com/UAVCAN/public_regulated_data_types/blob/master/regulated/zubax/actuator/esc/RatiometricSetpoint.0.1.uavcan) or its RPM alternative): [https://pyuavcan.readthedocs.io/en/latest/pages/usage.html](https://pyuavcan.readthedocs.io/en/latest/pages/usage.html) ---
**Author:** ![ka\_ru](https://forum.opencyphal.org/letter_avatar_proxy/v4/letter/k/94ad74/32.png) [@ka\_ru](https://forum.opencyphal.org/u/ka_ru)\ **Post date:** [December 22, 2019, 3:57pm UTC](https://forum.opencyphal.org/t/uavcan-cli-control-on-rpi-over-ssh/719/3 "2019-12-22T15:57:20Z")
Thanks. it need Python script? Can’t directly set from the command line (CLI)? Did I correctly interpret the answer? ---
**Author:** ![pavel.kirienko](https://forum.opencyphal.org/user_avatar/forum.opencyphal.org/pavel.kirienko/32/9_2.png) [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\ **Post date:** [December 22, 2019, 4:05pm UTC](https://forum.opencyphal.org/t/uavcan-cli-control-on-rpi-over-ssh/719/4 "2019-12-22T16:05:49Z")
I am not aware of any standalone CLI tools that can be used for that. You may be interested in the UAVCAN GUI tool – it’s not a CLI application, but it does have the functionality you seem to be looking for. ---
**Author:** ![ka\_ru](https://forum.opencyphal.org/letter_avatar_proxy/v4/letter/k/94ad74/32.png) [@ka\_ru](https://forum.opencyphal.org/u/ka_ru)\ **Post date:** [December 22, 2019, 4:15pm UTC](https://forum.opencyphal.org/t/uavcan-cli-control-on-rpi-over-ssh/719/5 "2019-12-22T16:15:42Z")
I do not have a display on the RPI. :). I wanted to check the controller Myxa for quick. I have it connected to the RPI. python3 is so python3. I’ll look at the candump and make for me CLI command. ---
**Author:** ![ka\_ru](https://forum.opencyphal.org/letter_avatar_proxy/v4/letter/k/94ad74/32.png) [@ka\_ru](https://forum.opencyphal.org/u/ka_ru)\ **Post date:** [December 22, 2019, 4:26pm UTC](https://forum.opencyphal.org/t/uavcan-cli-control-on-rpi-over-ssh/719/6 "2019-12-22T16:26:18Z")
To work with UAVCAN Myxa i need to know the dictionary DSDL. Where can I find the entire dictionary for Myxa? Watching all the DSDL keys in the Kucher is not very convenient. ---
**Author:** ![pavel.kirienko](https://forum.opencyphal.org/user_avatar/forum.opencyphal.org/pavel.kirienko/32/9_2.png) [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\ **Post date:** [December 22, 2019, 4:39pm UTC](https://forum.opencyphal.org/t/uavcan-cli-control-on-rpi-over-ssh/719/7 "2019-12-22T16:39:37Z")
There are no dictionaries in UAVCAN, there are types and namespaces. Zubax Myxa relies only on the standard namespace `uavcan`. If you have questions about Myxa, it’s best to visit the Zubax support forum. ---
**Author:** ![ka\_ru](https://forum.opencyphal.org/letter_avatar_proxy/v4/letter/k/94ad74/32.png) [@ka\_ru](https://forum.opencyphal.org/u/ka_ru)\ **Post date:** [December 23, 2019, 6:46am UTC](https://forum.opencyphal.org/t/uavcan-cli-control-on-rpi-over-ssh/719/8 "2019-12-23T06:46:16Z")
I do not understand the meaning of CLI. Can you describe at least one example with the CLI from real life? For the study of the UAVCAN, I have two RPI and two SLCAN. I want to connect them. In V1.0 I do not find RPM type. [https://github.com/UAVCAN/public\_regulated\_data\_types](https://github.com/UAVCAN/public_regulated_data_types). ## **RatiometricSetpoint** is [-512, 511] very little. I have Motor -45000…45000 RPM. ---
**Author:** ![pavel.kirienko](https://forum.opencyphal.org/user_avatar/forum.opencyphal.org/pavel.kirienko/32/9_2.png) [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\ **Post date:** [December 24, 2019, 5:34am UTC](https://forum.opencyphal.org/t/uavcan-cli-control-on-rpi-over-ssh/719/9 "2019-12-24T05:34:21Z")
The RPM type for v1 is [`regulated.zubax.actuator.esc.AngVelSetpoint`](https://github.com/UAVCAN/public_regulated_data_types/blob/master/regulated/zubax/actuator/esc/AngVelSetpoint.0.1.uavcan). The examples I linked above should help you get started. ---
**Author:** ![ka\_ru](https://forum.opencyphal.org/letter_avatar_proxy/v4/letter/k/94ad74/32.png) [@ka\_ru](https://forum.opencyphal.org/u/ka_ru)\ **Post date:** [December 24, 2019, 11:24am UTC](https://forum.opencyphal.org/t/uavcan-cli-control-on-rpi-over-ssh/719/10 "2019-12-24T11:24:35Z")
“velocity of the motor in rad/s.” We do not use rad/s. Why is it in the zubax category? It looks very biased and not abstract. I can place the parameters in my category. Will you add my company to your git? I think RPM and … is not for this topic “CLI”. 🙂