Implement UAVCAN interface standard on VESC

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Закрито Оплачується при отриманні

Now,i use Pixhawk to communicate with VESC 6.4 to control my motor through Uart interface,to communicate with multiple VESCes econveniently. I want to use Pixhawk to communicate with VESC through UAVCAN interface stardard. there is a similar project has realized the interface(Zubax_Orel_20,sapog). Both VESC and sapog are based on Chibios.

Realizes the following function:

1. Implement UAVCAN interface on VESC.

2. Communicate with VESC through UAVCAN,.

3. Can receive and execute VESC command from Pixhawk ,set_duty,set_currency,set_pid,set_current_brake etc.

4. Can send VESC's status information to Pixhawk, VESC' voltage, current,temperature, motor's voltage, current,temperature, rpm ets. need to define a new data type.

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VESC project:

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UAVCAN project

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sapog:

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Pixhawk/Ardupiot:

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Arduino Програмування на С Електроніка Мікроконтролер Архітектура ПЗ

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mechatronicsengr

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