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.

Command ID	Command Name	Status
`4`	`GetValues`	✅
`6`	`SetCurrent`	✅
`8`	`SetRpm`	✅
`10`	`SetHandbrake`	✅
`34`	`ForwardCan`	✅
`50`	`GetValuesSelective`	✅

Supported command replies

[!NOTE]

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

Command ID	Command Name	Status
`4`	`GetValues`	✅
`50`	`GetValuesSelective`	✅

Installation

Add this to your Cargo.toml:

[dependencies]
vesc = "0.1"

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