VESC communication for Rust

A no-std/no-alloc Rust implementation of the VESC®^1 firmware communication protocol, making it ideal for embedded systems, robotics, and any application that needs to communicate with VESC motor controllers.

Supported commands

[!NOTE]

If you find a missing command, feel free to contribute! Adding a new command should be relatively easy. Just follow the well-established pattern (see commits b0287c7 and 1049f10 for reference).

Command ID	Command Name	Status
`0`	`FwVersion`	✅
`4`	`GetValues`	✅
`5`	`SetDuty`	✅
`6`	`SetCurrent`	✅
`7`	`SetCurrentBrake`	✅
`8`	`SetRpm`	✅
`9`	`SetPos`	✅
`10`	`SetHandbrake`	✅
`29`	`Reboot`	✅
`30`	`Alive`	✅
`34`	`ForwardCan`	✅
`50`	`GetValuesSelective`	✅
`110`	`SetOdometer`	✅
`128`	`GetStats`	✅
`129`	`ResetStats`	✅
`156`	`Shutdown`	✅
`157`	`FwInfo`	✅
`159`	`MotorEstop`	✅

Supported command replies

[!NOTE]

Many commands have no replies, so this list need not mirror the supported commands.

Command ID	Command Name	Status
`0`	`FwVersion`	✅
`4`	`GetValues`	✅
`50`	`GetValuesSelective`	✅
`128`	`GetStats`	✅
`129`	`ResetStats`	✅
`157`	`FwInfo`	✅

Installation

Add this to your Cargo.toml:

[dependencies]
vesc = "0.4"

Usage

let mut buf = [0u8; 16];
let size = vesc::encode(Command::SetRpm(5000), &mut buf).unwrap();
tx.write_all(&buf[..size]).unwrap();

let mut decoder = Decoder::default();
let mut buf = [0u8; 512];

loop {
    let size = rx.read(&mut buf).unwrap()
    decoder.feed(&buf[..size]).unwrap();

    for reply in self.decoder.by_ref() {
        // process `reply`
    }
}

License