def writeData(self):
#Get the throttle value and write it to the vesc.
# Throttle duty cycle value range for vesc: -100,000 to 100,000
# Input throttle: 0 to 100
# Only write a value if we are in endurance mode
if (self.cache.getNumerical('boatConfig',0) == 0):
if (self.cache.getNumerical('throttleMode',0) == 0):
throttle = ((self.cache.getNumerical('throttle',0)/255.0) * 100.0 * 1000.0)
throttleMessage = pyvesc.SetDutyCycle(int(throttle))
self.port.write(pyvesc.encode(throttleMessage))
else:
# Goal current is the MOTOR CURRENT,
# To convert to motor current from battery current: MOTOR CURRENT = BATTERY CURRENT / DUTY CYCLE
batteryCurrent = (self.cache.getNumerical('throttleCurrentTarget',0))
dutyCycle = (self.cache.getNumerical('controllerDutyCycle',0) / 10.0)
if dutyCycle > 0:
motorCurrent = (batteryCurrent / dutyCycle) * -1.0 * 1000.0
else:
motorCurrent = 0
throttleMessage = pyvesc.SetCurrent(int(motorCurrent))
self.port.write(pyvesc.encode(throttleMessage))
else:
self.port.write(pyvesc.encode(pyvesc.SetDutyCycle(0)))
self.port.write(pyvesc.encode_request(pyvesc.GetValues))
def simple_example():
# lets make a SetDuty message
my_msg = pyvesc.SetDutyCycle(255)
# now lets encode it to make get a byte string back
packet = pyvesc.encode(my_msg)
# now lets create a buffer with some garbage in it and put our packet in the middle
buffer = b'\x23\x82\x02' + packet + b'\x38\x23\x12\x01'
# now lets parse our message which is hidden in the buffer
msg, consumed = pyvesc.decode(buffer)
# update the buffer
buffer = buffer[consumed:]
# check that the message we parsed is equivalent to my_msg
assert my_msg.duty_cycle == msg.duty_cycle
print("Success!")
#request data
conn.write(pyvesc.encode_request(pyvesc.GetValues))
while conn.inWaiting() < 70:
pass
_buffer= conn.read(70)
(vescMessage,consumed) = pyvesc.decode(_buffer)
if(vescMessage):
print("VESC Data:")
print(vescMessage.temp_fet_filtered)
print(vescMessage.temp_motor_filtered)
print(vescMessage.avg_motor_current)
print(vescMessage.avg_input_current)
print(vescMessage.duty_cycle)
print(vescMessage.rpm)
print(vescMessage.v_in)
print(vescMessage.amp_hours)
print(vescMessage.watt_hours)
print(vescMessage.tachometer)
print(vescMessage.tachometer_abs)
print(vescMessage.mc_fault_code)
print(vescMessage.temp_mos1)
print(vescMessage.temp_mos2)
print(vescMessage.temp_mos3)
throt_msg = pyvesc.SetDutyCycle(10000)
conn.write(pyvesc.encode(throt_msg))
def changeDuty(num):
ser.write(pyvesc.encode(pyvesc.SetDutyCycle(num)))
time.sleep(SLEEP_TIME)
def dutyPackage(voltage) -> bytes:
slowDutyCycleF = pyvesc.SetDutyCycle(
voltage) # prints value of my_msg.duty_cycle
sendSDCF = pyvesc.encode(slowDutyCycleF)
return sendSDCF