# 2023 CNH Puma autosteer ready + CAN bus

**URL:** <https://discourse.agopengps.com/t/2023-cnh-puma-autosteer-ready-can-bus/15049>\
**Category:** Getting Started\
**Created:** [4 January 2024 07:00 UTC](https://discourse.agopengps.com/t/2023-cnh-puma-autosteer-ready-can-bus/15049 "2024-01-04T07:00:44Z")\
**Posts on this page:** 1\
**Showing post:** 2

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**Author:** ![Valen.Stein](https://discourse.agopengps.com/letter_avatar_proxy/v4/letter/v/34f0e0/32.png) [@Valen.Stein](https://discourse.agopengps.com/u/Valen.Stein)\
**Post date:** [12 January 2024 21:57 UTC](https://discourse.agopengps.com/t/2023-cnh-puma-autosteer-ready-can-bus/15049/2 "2024-01-12T21:57:51Z")

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Hello,

I would highly recomend you to take a look at this amazing topic!

> [@CanBus for Beginners - Super Simple](https://discourse.agopengps.com/t/canbus-for-beginners-super-simple/3814/1):
>
> Hi, i am going to inject some life into the CanBus section and going to show how easy it can be to use the factory installed components (like the WAS from CanBus to AgOpen). I will also show how we can use AgOpen to steer the factory installed GPS ready systems. I have the ISO standard system worked out, plus the Fendt SCR/S4. I will slowly post the small projects you can try if your keen, keeping it super simple and working each brand out as we go. They all work the same way but put same info…

It is very informative in terms of Canbus steer-ready tractors!

New CNH tractors use a standard Danfoss autosteer valve which is no problem to control via CAN.  
The CANBUS steering expert @CommonRail and others did some amazing work and figured out how all that is working.

The most recent “state of the art” solution would be the Teensy Canbus PCB he designed. WIth that you can connect three CAN-busses at once to the Teensy and have basicaly full control of your tractor. Steering it over the steering bus, use a joystick button to engage steering or let AOG push the headland management button for you.  
It even can read the actual hitch height from ISOBUS and use it for the AOG workswitch.

Here is the Github Link for this PCB: [GitHub - MechanicTony/AOG\_CAN\_Teensy4.1: AgOpenGPS using Teensy4.1 and CANBUS AutoSteer Ready Tractors](https://github.com/MechanicTony/AOG_CAN_Teensy4.1)

The AIO 4.1 does work with a different Code for steering via CAN but then you don’t have the option to use the other CAN networks of your tractor.

I hope I could help you. I’m currently upgrading my steer ready tractor to this PCB from previously just steering it with an Arduino Uno with canbus shield. Did also work flawlessly for two years! 👍

At any questions feel free to ask.

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