I'm new to the project and am trying to add some custom commands to be accessed via BLE. The rig I'm working on has two motors. To test my new commands I want to exercise them from the VESC tool. I have a few dumb questions to ask so please bear with me!
1. The two processors are connected to the nrf51 BLE module through a multiplexor controlled by a pin on the BLE module. Using the VESC Tool, how can I switch between them?
2. How can I send a custom command from the VESC terminal? Do I need to rebuild VESC Tool with support for my custom command?
Thanks in advance! Felix
Answering 2. I see there is no support to send an arbitrary command. I found the terminal.c file in VESC code. I could add a terminal command to exercise my new functionality but that is not what I need.
Hi,
you can define your custom commands in hw_conf/hw_yourhw.c. Have a look at the axiom hardware, there are a few custom commands
Georg
Thanks for that. I had a look, but that looks like an extension point just for the terminal commands. I'm extending the command processing in commands.c . This is for our fork for custom hardware.
My first question still stands though. How can I control which motor controller the BLE comms go to via the multiplexor? Maybe this is not a VESC standard hardware configuration. I'll just have to keep reading the code!