Read values from VESC motor controller

Change-Id: Icaad5bd270827f1fa1b22a77d0cd0e23dbf999e5
mechmotum · Jul 27, 2023 · 8e46e4d · 8e46e4d
1 parent 8d86f57
commit 8e46e4d
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Showing 3 changed files with 16 additions and 2 deletions.
diff --git a/examples/BUILD.bazel b/examples/BUILD.bazel
@@ -3,7 +3,10 @@ load("@rules_cc//cc:defs.bzl", "cc_binary")
 cc_binary(
     name = "vesc_cmd",
     srcs = ["vesc_cmd.cpp"],
-    deps = ["//third_party/vesc_uart"],
+    deps = [
+        "//third_party/vesc_uart",
+        "@fmt",
+    ],
 )
 
 cc_binary(

diff --git a/examples/vesc_cmd.cpp b/examples/vesc_cmd.cpp
@@ -1,8 +1,19 @@
 #include "third_party/vesc_uart/VescUart.h"
+//#include ""
+
+#include <cstdint>
+#include <fmt/core.h>
 
 auto main() -> int
 {
   ::VescUartSetCurrent(1.0F);
 
+  auto cmd_get_values = std::uint8_t{ COMM_GET_VALUES };
+  constexpr auto serial_device = 0;
+  ::PackSendPayload(&cmd_get_values, sizeof(cmd_get_values), serial_device);
+
+  const auto len_payload = Serial.read();
+  fmt::print("len payload: {}\n", len_payload);
+
   return 0;
 }
diff --git a/uart_abstraction/HardwareSerial.hpp b/uart_abstraction/HardwareSerial.hpp
@@ -1,4 +1,4 @@
-// Fake API for UART read/write.
+// API for UART read/write.
 
 #pragma once