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LiamBindle / PyVESC

PyVESC is an easy to use and robust Python implementation of the VESC - Open Source ESC communication protocol
https://pyvesc.readthedocs.io/en/latest/
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Does this work at all with VESC FW6 / FW5.03? #29

Open raquo opened 1 year ago

raquo commented 1 year ago

The code in this library predates these versions by many years, yet I see fairly recent commits and a lot of forks. One fork appears to target FW 3.x. Is there a newer version of this library that supports recent firmware versions, that I missed perhaps?

I want to get VESC 6 UART working with python, but I don't see any documentation / description on what the UART protocol actually is. Do such docs exist? For comparison, I currently use APD ESCs, and their UART protocol is described here.

MelvinWarnet commented 6 months ago

Hi raquo, I'm currently wondering the same thing. Have you found an answer somewhere? Personally, I'm trying to send the COMM_DETECT_APPLY_ALL_FOC message. All my parameters seem correct, but the motor doesn't behave the same way as it does with VESC Tool, and I can't decode the responses from the VESC. So I'm starting to wonder if this library is still capable of communicating with the new VESC firmware.

raquo commented 6 months ago

@MelvinWarnet I've looked at several VESC interfacing libraries, and ended up writing my own VESC interfacing code for CircuitPython. However, I only use the COMM_GET_VALUES command, and parse its response. I don't have the code for any other commands, nor experience in using other commands.

I do think this PyVESC library can talk to VESC 6, at least the message encoding / decoding code I looked at seems to do the same things as other libraries do, and what my code does. I haven't looked much at the part of this library that reads and writes messages over the wire because CircuitPython only supports a subset of Python, and I don't think it includes the threading functionality that this library uses, so my code for that looks quite different.

I hope to eventually open source my code for the benefit of anyone else using CircuitPython, but right now the code is tied to my project, and I don't have time to detangle it yet. Maybe in a few months, if anyone cares.

Wishing you good luck trying to figure out that command... I don't know what it does, but if you have doubts that the library does not work properly, try sending other simple commands COMM_GET_VALUES and read their responses – if that doesn't work either, then the problem is probably in the codec or communication layer somewhere (or maybe even physical wiring), and is not related to your specific command.

SimonRoy16 commented 1 week ago

I managed to get this working by forking and changing a few things. The get_firmware_version function will fail randomly on new VESC firmwares.