VARIANT_USART commands

[diogoc]

Hello. It would be nice if it were possible to send other commands in variant_usart, such as the mode and type of motor control.

[Candas1]

It's actually possible but it's not documented.
If you open this web tool, you can see I am using it already in Ctrl view with protocol hovercar.

If you use sideboard_usart instead of control_usart, you can send following command:
https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/blob/36953c6fe9ba90593d21150113459b0a4bb4e312/Inc/util.h#L47

• start : 0xABCD
• pitch (not relevant here, you can send 0)
• dpitch (not relevant here, you can send 0)
• steer : -1000 to 1000
• speed : -1000 to 1000
• switches
  • 0:OFF or 1:ON (for switching input when dual input is used)
  • Control type 00:FOC 10:Sinusoidal 01:Commutation
  • Control mode 00:Voltage 10:Speed 01:Torque
  • Field Weakening 0:off 1:on
  • 0000000000
• checksum

This you can adapt in the arduino code

[diogoc]

Thank you. I will try.