ESP32 and CJMCU230 canbus control odrive

Hi ı have a esp32 and cjmcu 230 canbus board, ı want control my odesc odrive 3.6 with esp32 via canbus because ı should use 3 odrive and ı dont have enough serial port, anyone can help me still ı try, thanks for helping
my odrive

my canbus board
https://www.google.com/url?sa=i&url=https%3A%2F%2Ftr.aliexpress.com%2Fitem%2F32830663650.html&psig=AOvVaw3TVQkXXC_1q5R8kNtPxp5G&ust=1664981906492000&source=images&cd=vfe&ved=0CA0QjhxqFwoTCOj4gIvrxvoCFQAAAAAdAAAAABAD

https://github.dev/miwagner/ESP32-Arduino-CAN ı find that library and ı can read messages from odrive, but ı cant send messages, only read to heartbeat data