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CAN Commands to control VESC 100/250?

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harmander_sihra
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Joined: 2021-12-13 22:33
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CAN Commands to control VESC 100/250?

Hi everyone, we recently got our VESC 100/250s in and I can control our motor through the VESC tool just fine. I've been trying to find some information on how to send commands to the VESC over CAN but haven't had much luck. I tried to mimic what I saw online from a couple of different projects but to no avail. (https://dongilc.gitbook.io/openrobot-inc/tutorials/control-with-can, ht...). I was just wondering if anyone had experience with this or if any documentation for this exists. Just a simple page of possible CAN commands would be ideal. Thanks in advance.

tecnico.solarboat
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Joined: 2018-06-28 14:43
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Hi,

We actually have success controlling two VESC 75/300 over CAN. Check how we do it here:

https://gitlab.com/tecnico.solar.boat/2021/SR03/-/tree/main/Datasheets/VESC

https://gitlab.com/tecnico.solar.boat/2021/SR03/-/tree/main/Code/Throttle

Keep in mind that our VESC firmware is customized (we compiled it ourselves so that the data that we want is broadcasted over CAN, but this should not be a problem for you).

We came up with the library VescCAN that we have decided to make Open Source as well as all the other code we use on our boats.

PS: Your link is broken.