I'm running two VESC's with two motors in regular PPM mode (current, no_reverse, with braking). I currently send PPM to the PPM port from a standard receiver. I am however logging data from the UART port while I ride. What I'm wondering is whether I can change my mode via the UART port from PPM_CTRL_TYPE_CURRENT_NOREV_BRAKE to PPM_CTRL_TYPE_CURRENT so that I can manually engage reverse from my controller. Is this possible while controlling it via the PPM port? If not, can I do it by doing all control through the UART port?
Thanks very much for any tips.
That is possible, but the motor will stop for a second or so when you update the configuration. Best is to skip PPM entirely, and use UART only. You can use COMM_SET_CHUCK_DATA (which should be renamed btw). It will reach all VESCs on the CAN-bus, and also enable traction control if configured.
Thanks. That sounds great! The idea of using only UART sounds interesting.