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

This project is licensed under the MIT license.

Footnotes

1. https://vesc-project.com/ ↩