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add vesc can id parameter and prepare for dual vesc
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@manoukianv @Ultrawipf
manoukianv authored and Ultrawipf committed Jan 4, 2022
1 parent e3f12ae commit d2c325f
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2 changes: 1 addition & 1 deletion main.py
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Original file line number Diff line number Diff line change
Expand Up @@ -228,7 +228,7 @@ def updateTabs_cb(active):
self.activeClasses[name] = c
self.addTab(c,n)
self.systemUi.setSaveBtn(True)
elif cl["id"] == 0x87:
elif cl["id"] == 0x87 or cl["id"] == 0x88:
c = vesc_ui.VescUI(main = self,unique = cl["unique"])
n = cl["name"]
self.activeClasses[name] = c
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129 changes: 77 additions & 52 deletions res/vesc.ui
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Original file line number Diff line number Diff line change
Expand Up @@ -26,46 +26,17 @@
<string>VESC Settings</string>
</property>
<layout class="QGridLayout" name="gridLayout_5">
<item row="2" column="1">
<widget class="QCheckBox" name="checkBox_useEncoder">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QPushButton" name="pushButton_apply">
<item row="1" column="0">
<widget class="QLabel" name="label_5">
<property name="text">
<string>Apply</string>
<string>OpenFFBoard Axis CAN ID</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QComboBox" name="comboBox_baud">
<item>
<property name="text">
<string>250k</string>
</property>
</item>
<item>
<property name="text">
<string>500k</string>
</property>
</item>
<item>
<property name="text">
<string>1000k</string>
</property>
</item>
</widget>
</item>
<item row="1" column="1">
<widget class="QSpinBox" name="spinBox_id">
<widget class="QSpinBox" name="spinBox_OFFB_can_id">
<property name="minimum">
<number>1</number>
<number>0</number>
</property>
<property name="maximum">
<number>254</number>
Expand All @@ -75,10 +46,17 @@
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_5">
<item row="5" column="0">
<widget class="QPushButton" name="pushButton_refresh">
<property name="text">
<string>Refresh</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_9">
<property name="text">
<string>Axis CAN ID</string>
<string>Encoder offset</string>
</property>
</widget>
</item>
Expand All @@ -89,14 +67,24 @@
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_8">
<item row="3" column="1">
<widget class="QCheckBox" name="checkBox_useEncoder">
<property name="text">
<string>Use Vesc Encoder</string>
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QPushButton" name="pushButton_apply">
<property name="text">
<string>Apply</string>
</property>
</widget>
</item>
<item row="6" column="1">
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
Expand All @@ -109,14 +97,33 @@
</property>
</spacer>
</item>
<item row="0" column="1">
<widget class="QComboBox" name="comboBox_baud">
<item>
<property name="text">
<string>250k</string>
</property>
</item>
<item>
<property name="text">
<string>500k</string>
</property>
</item>
<item>
<property name="text">
<string>1000k</string>
</property>
</item>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_9">
<widget class="QLabel" name="label_8">
<property name="text">
<string>Encoder offset</string>
<string>Use Vesc Encoder</string>
</property>
</widget>
</item>
<item row="3" column="1">
<item row="4" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_encoderOffset">
<property name="enabled">
<bool>false</bool>
Expand All @@ -132,10 +139,17 @@
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QPushButton" name="pushButton_refresh">
<item row="2" column="0">
<widget class="QLabel" name="label_11">
<property name="text">
<string>Refresh</string>
<string>Vesc CAN ID</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QSpinBox" name="spinBox_VESC_can_Id">
<property name="maximum">
<number>255</number>
</property>
</widget>
</item>
Expand Down Expand Up @@ -171,14 +185,15 @@
<widget class="QTextBrowser" name="textBrowser">
<property name="html">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;meta charset=&quot;utf-8&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'.AppleSystemUIFont'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt;&quot;&gt;This controls an VESC via CAN bus.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt;&quot;&gt;This controls an VESC via CAN bus, and read the wheel position from the vesc.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:8.25pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; text-decoration: underline;&quot;&gt;Hardware Setup:&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt;&quot;&gt;Tested on Vesc 4.12 &amp;amp; Vesc 4.20 hardware.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt;&quot;&gt;Required vesc firmware is available on github : https://github.com/manoukianv/vescFirmware4OpenFFBoard/releases&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt;&quot;&gt;The max torque value is setted in the vesctools (in the general/motor/maxcurrent) check it to not injure yourself or dommage hardware.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:8.25pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; text-decoration: underline;&quot;&gt;Setup:&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt;&quot;&gt;The CAN protocol is limited. No setup can be done via CAN.&lt;/span&gt;&lt;/p&gt;
Expand All @@ -191,14 +206,24 @@ p, li { white-space: pre-wrap; }
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:8.25pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt;&quot;&gt;Check the Vesc website for setup : www.vesc-project.com&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:8.25pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; text-decoration: underline;&quot;&gt;Torque:&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt;&quot;&gt;The max torque value is setted in the vesc, check it to not injure yourself or dommage hardware.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:8.25pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; text-decoration: underline;&quot;&gt;CAN speeds:&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt;&quot;&gt;FFB requires a 1kHz update rate for encoder positions and torque. &lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt;&quot;&gt;A baud rate of at least 250k is required to barely meet this requirement (packet loss possible).&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt;&quot;&gt;Its recommended to use 500k (1 motor) or 1M (1 or 2 motors) if possible.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:8.25pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; text-decoration: underline;&quot;&gt;CAN ID:&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt;&quot;&gt;Both OpenFFBoard and Vesc have a CAN ID on the can network, and they must be all different.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:700;&quot;&gt;Vesc CAN ID : &lt;/span&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt;&quot;&gt;you can use the &amp;quot;universal vesc CAN ID&amp;quot; 255 if you have only one vesc on the CAN.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt;&quot;&gt;If you plan to use 2 vesc on the bus, for exemple in dual axis config, you must enter the CAN ID of the vesc attached to this axis (using vesctools connected to the wanted vesc to get its id).&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:700;&quot;&gt;OpenFFBoad CAN ID&lt;/span&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt;&quot;&gt; : choose a random CAN ID, unique on the BUS, to allow VESC to reply to the OpenFFBoard. Default one (64) works if the vesc CAN ID is not the same, just check it ;-)&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:8.25pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; text-decoration: underline;&quot;&gt;Use vesc Encoder:&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt;&quot;&gt;when this option is checked, OpenFFBoard read the value from the vesc position sensor. If you prefer setup an encoder in the axis tab, uncheck this option and setup it properly in the UI.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt;&quot;&gt;Notice: vesc must have an encoder to work in FOC mode. &lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:8.25pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; text-decoration: underline;&quot;&gt;Encoder offset:&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt;&quot;&gt;this read only, check if there is an encoder offset setting on the axis. As vesc use absolute encoder process, you can center the wheel in the Axis tab. When you power your wheel setup, the vesc connector is reloading the previous offset to keep the wheel always centered.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:8.25pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; text-decoration: underline;&quot;&gt;Copyright:&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt;&quot;&gt;Vesc is an OpenSource project from Vedder in GNU GPL 3 available here : www.vesc-project.com&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt;&quot;&gt;No Vesc source code are used in this project.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
Expand Down Expand Up @@ -315,7 +340,7 @@ p, li { white-space: pre-wrap; }
<item row="0" column="0">
<widget class="QPushButton" name="pushButton_manualRead">
<property name="text">
<string>Force read once encoder position </string>
<string>Test CAN Connection</string>
</property>
</widget>
</item>
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