Crate vesc 

The VESC® firmware is an open source motor controller firmware, and this library implements the necessary structures and functions to encode commands and decode replies.

Examples

Encoding a Command

use vesc::{Command, ValuesMask};

let mut buf = [0u8; 64];
let command = Command::GetValuesSelective(ValuesMask::RPM | ValuesMask::VOLTAGE_IN);
let frame_len = vesc::encode(command, &mut buf).unwrap();
let frame = &buf[..frame_len];

Decoding a Reply

use vesc::CommandReply;

match vesc::decode(&[2, 7, 50, 0, 0, 1, 128, 0, 0, 4, 210, 1, 176, 254, 22, 3]) {
    Ok((_, CommandReply::GetValuesSelective(values))) => {
        let rpm = values.rpm;
        let voltage_in = values.voltage_in;
    }
    _ => (),
}

Structs

Decoder

A streaming decoder for VESC communication protocol.

Values

Telemetry data returned by the motor controller.

ValuesMask

A bitmask used with Command::GetValuesSelective to request specific telemetry fields. This allows for efficient communication by requesting only the data you need, reducing bandwidth and processing overhead. Each flag corresponds to a field in the Values struct.

Enums

Command

Commands that can be sent to a VESC controller.

CommandReply

Reply messages received from the VESC in response to commands.

Error

Errors that can occur during command encoding or decoding.

Functions

decode

Decodes a CommandReply from a byte buffer.

encode

Encodes a Command into a byte buffer.