Class VescInterface

Class Documentation

class VescInterface

Class providing an interface to the Vedder VESC motor controller via a serial port interface.

Public Types

typedef std::function<void(const VescPacketConstPtr&)> PacketHandlerFunction
typedef std::function<void(const std::string&)> ErrorHandlerFunction

Public Functions

VescInterface(const std::string &port = std::string(), const PacketHandlerFunction &packet_handler = PacketHandlerFunction(), const ErrorHandlerFunction &error_handler = ErrorHandlerFunction())

Creates a VescInterface object. Opens the serial port interface to the VESC if port is not empty, otherwise the serial port remains closed until connect() is called.

Parameters:

  • port – Address of the serial port, e.g. ‘/dev/ttyUSB0’.

  • packet_handler – Function this class calls when a VESC packet is received.

  • error_handler – Function this class calls when an error is detected, such as a bad checksum.

Throws:

SerialException –

VescInterface(const VescInterface&) = delete

Delete copy constructor and equals operator.

VescInterface &operator=(const VescInterface&) = delete
~VescInterface()

VescInterface destructor.

void setPacketHandler(const PacketHandlerFunction &handler)

Sets / updates the function that this class calls when a VESC packet is received.

void setErrorHandler(const ErrorHandlerFunction &handler)

Sets / updates the function that this class calls when an error is detected, such as a bad checksum.

void connect(const std::string &port)

Opens the serial port interface to the VESC.

Throws:

SerialException –

void disconnect()

Closes the serial port interface to the VESC.

bool isConnected() const

Gets the status of the serial interface to the VESC.

Returns:

Returns true if the serial port is open, false otherwise.

void send(const VescPacket &packet)

Send a VESC packet.

void requestFWVersion()
void requestState()
void requestImuData()
void setDutyCycle(double duty_cycle)
void setCurrent(double current)
void setBrake(double brake)
void setSpeed(double speed)
void setPosition(double position)
void setServo(double servo)