VESC 电控命令调试记录_vesc报文-CSDN博客

本文链接：https://blog.csdn.net/LWLGZY/article/details/107156681

使用串口转CAN模块，波特率460800（可以软件或者硬件进行设置）

选择指令模式进行命令的发送

USB2CAN抓包结果为

[06/07/2020 18:45:48] Written data 
    41 54 00 00 18 04 08 00 00 13 88 00 00 00 00 0d   AT........?..... 
    0a                                                .                
[06/07/2020 18:45:49] Written data 
    41 54 00 00 18 04 08 00 00 13 88 00 00 00 00 0d   AT........?..... 
    0a                                                .                
[06/07/2020 18:46:00] Written data 
    41 54 00 00 18 04 08 00 00 13 88 00 00 00 00 0d   AT........?..... 
    0a                                                .                
[06/07/2020 18:46:05] Written data 
    41 54 00 00 18 04 08 00 00 13 88 00 00 00 00 0d   AT........?..... 
    0a                                                .                
[06/07/2020 18:46:06] Written data 
    41 54 00 00 18 04 08 00 00 13 88 00 00 00 00 0d   AT........?..... 
    0a                                                .                
[06/07/2020 18:46:07] Written data 
    41 54 00 00 18 04 08 00 00 13 88 00 00 00 00 0d   AT........?..... 
    0a                                                .

位置是绝对位置

选择指令模式：帧格式为扩展帧帧类型为数据帧

一、位置控制45度发送的报文：41 54 00 00 20 04 04 02 AE A5 40 0D 0A

指令ID 地址： 04 00

计算方式 45*1 000 000 转为16进制 02 AE A5 40

二、转速5000rpm发送的报文：41 54 00 00 18 04 04 00 00 13 88 0D 0A

指令ID 地址： 03 00

三、占空比50%发送的报文：41 54 00 00 00 04 04 00 00 13 88 0D 0A

指令ID 地址： 00 00

1*1e3 --> 1%

50 *1e3 -- > 50%

100*1e3 -- > 100%

串口发送设置转速5000rpm 电机保持运行

[06/07/2020 13:45:00] Written data 
    02 05 08 00 00 13 88 44 8d 03                     ......圖?..       
[06/07/2020 13:45:00] Written data 
    02 01 1e f3 ff 03                                 ...?.           
[06/07/2020 13:45:00] Written data 
    02 01 1e f3 ff 03                                 ...?.           
[06/07/2020 13:45:01] Written data 
    02 01 1e f3 ff 03                                 ...?.           
[06/07/2020 13:45:01] Written data 
    02 01 1e f3 ff 03                                 ...?.           
[06/07/2020 13:45:01] Written data 
    02 01 1e f3 ff 03                                 ...?.           
[06/07/2020 13:45:02] Written data 
    02 01 1e f3 ff 03                                 ...?.