VescNET 0.2.0

VescNET

This library can be used to communicate .NET applications to VESC drivers using usb/serial port.

This project is based on vedderb/bldc_uart_comm_stm32f4_discovery repository.

Table of contents

• VescNET
  • Table of contents
  • Features
  • Usage
    • Build bldc instance
    • Register communication events
    • Handle connection changed event
    • Handle data event:

Features

• Read VESC firmware information
• Get values from VESC
• Read/Set VESC motor parameters
• Read/Set VESC app parameters
• Set Duty Cycle
• Set Current
• Set Current Brake
• Set RPM
• Set Position
• Set Handbrake Current
• Set Servo Position
• Request Encoder Detection
• Terminal Commands

Usage

Build bldc instance

var buffer = new VescNET.Infra.Buffer();
var packetProcess = new PacketProcess();
var packet = new Packet(buffer, packetProcess);
var serial = new SerialPort();
var comm = new BldcSerial(packet, serial);
var bldc = new Bldc(buffer, comm);

Register communication events

comm.ConnectionChanged += BldcComm_ConnectionChanged;
comm.OnData += BldcComm_OnData;

Handle connection changed event

private void BldcComm_ConnectionChanged(object sender, bool connected)
{
  if (connected)
  {
    Console.log("VESC connected");
  }
  else
  {
    Console.log("VESC disconnected");
  }
}

Handle data event:

private void BldcComm_OnData(object sender, VescNET.Domain.DTOs.ReceivedData e)
{
  switch (e.PacketId)
  {
    case CommPacketId.FwVersion:
    case CommPacketId.GetValues:
    case CommPacketId.DetectEncoder:
      Console.log(PacketProcess.PrintData(e));
      break;
    case CommPacketId.GetMcConf:
    {
      Console.log("McConf received");
      var mcConf = e.Data as McConfiguration;
      // handle mcConf
      break;
    }
    case CommPacketId.GetAppConf:
    {
      Console.log("AppConf received");
      var appConf = e.Data as AppConfiguration;
      // handle appConf
      break;
    }
    case CommPacketId.SetMcConf:
      Console.log("Mcconf sended to VESC");
      bldc.GetMcconf();
      break;
    case CommPacketId.SetAppConf:
      Console.log("Appconf sended to VESC");
      bldc.GetAppconf();
      break;
  }
}