README.md

VESC CAN BUS Command

CAN characteristics

• Baud rate : 500kbit/s
• Signal update rate : 50Hz
• Data frame : Extended frame format

CAN BUS CMD Reference

VESC6 CAN Commands Telemetry

Ex:Set Duty

ID : 0x00A (Extend frame format) First"0" :

CAN_PACKET_SET_DUTY = 0

Remaining 0A : VESC ID (App Settings ➡️ General), Let's set Mid-Drive controller to 10 (0xA)

Data Field

Mid-Drive VESC (ID : 10)

Mid-Drive Motor Speed CMD

CAN_PACKET_SET_RPM = 3

ID : 0x30A(Extend frame format) Scale : 1

Data field(RPM)

Brake Servo Position CMD(Requires custom firmware)

CAN_PACKET_SET_BRAKE_SERVO_POS = 46

ID : 0x2E0A(Extend frame format) Scale : 0.01 (From 0-100)

Data field(Brake Servo)

Steering VESC (ID : 12)

Steering Motor Speed CMD

CAN_PACKET_SET_RPM = 3

ID : 0x30C(Extend frame format) Scale : 1

Data field(Steering)