I am controlling a VESC via CAN, I am able to read status feedback 1-6 and send CAN commands for duty, current, etc.
None of the status feedback messages seem to indicate anything about the VESC's internal state (are we good to go? is there any active fault?). Fairly important for the master VCU to have knowledge of this.
I assume there is some sort of CAN message implemented for this, as it seems you can communicate with multiple VESCS with only one hooked up via USB if they all share a common CAN network.
Can someone help me out with how to read fault over CAN? Since its not part of the standard status message fields, guessing I might have to request it somehow and then wait for a response?
Also, related feature request:
- It would be nice if the built-in CAN status messages included a "active fault" and "status" field. Status -> something like "Active", "Inactive', "Fault". Fault -> some enum that can contains same info as VESC tool fault field shows
Open VESC-Tool, naviagte to Dev Tools in the left side menu, navigate to the LISP tab. Look at the bottom window and hit the EXAMPLES tab. Open can.js.lisp.
In the top window you can see HEPL, RUN, STOP, Poll Status. Click on HELP. There you will find a link to a documentation.
You can tweak the code with the help of the documentation.
This document might also help you. https://github.com/vedderb/