I see that VESC is CAN enabled, but I cannot find much (any) information regarding the CAN protocol on this websites documentation section. I apologized if I've missed it!
Just as background, I'm interested in utilizing both closed-loop current/torque and velocity control via CAN, and am also interested in getting actual current/torque and velocity feedback via CAN. I'm working on a project where I'll likely need to close the velocity loop myself, hence the need for velocity feedback, but would like to initially start with the built-in speed controller. I also believe I'll want to use signed current/velocity (reverse direction sometimes), which Im not sure can be represented by a PWM input, so I'm hoping CAN will handle that.
Any guidance is appreciated, thanks in advance!