We used the software code available at the github of Benjamin Vedder. We have some troubles setting the current and rpm values of the motors. It is possible to set the duty cycles via bldc_interface_set_duty_cycle. But when we tried using the functions bldc_interface_set_current or bldc_interface_set_rpm, it does not seem to work. When we look at the logs of the vesc via the vesc_log command we see that the duty cycle is set at 0.1 %, which makes it impossible to move the motor.