##########
VESC tool
##########

===============
Start VESC tool
===============

Open a terminal in the VESC directory and start a Docker container using the following command: 

.. code-block:: console

    ./docker-run-vesc.sh

Inside the container, run the VESC tool:

.. code-block:: console
    
    ./run_vesc_tool.sh

.. image:: Images/vesc_tool_start.png

Click on ``OK`` to begin using the VESC tool.

.. _usb-connect:

=================
Connect using USB
=================

.. |ico1| image:: Images/connection_icon.png

To connect to a VESC using USB, start by connecting the VESC borad to your computer using a USB cable. In VESC tool, go to ``Connection``, then under ``(USB-)Serial``, click on the connected plug icon |ico1|.

.. image:: Images/VESC_USB.png

If the connection is successful, the following message will appear in the bottom-right corner:  

.. image:: Images/USB_connect.png

=================
Connect using CAN
=================

To connect to a VESC using CAN, start by connecting the VESC board to your computer using a USB cable. 

Open a terminal in your VESC directory and run the following command: 

.. code-block:: console

    sudo ./setcan0_500k_host.sh


In VESC Tool, go to ``Connection`` and under ``CAN bus``, click on the ``Scan`` button.
After the scan completes, select the VESC ID of the VESC you want to connect to and click the connected plug button |ico1|.

.. image:: Images/VESC_CAN.png 

If the connection is successful, the following message will appear in the bottom-right corner:

.. image:: Images/CAN_connect.png

.. _vesc-ID:

==================
Change the CAN ID
==================

To change the CAN ID of a connected VESC, in VESC Tool, go to ``App Settings`` and ``General``, you can now change the ``VESC ID``. 
Save the changes by clicking the A icon with a downward arrow on the right.

You can view the CAN IDs of all VESCs on the CAN bus at the bottom-left corner of the tool.

.. image:: Images/VESC_ID.png

.. _pos-0:

====================================
Change the position 0 of an actuator
====================================

To change the position 0 of an actuator, once connected, go to ``VESC Dev Tools``.

.. image:: Images/VESC_terminal.png

In ``VESC terminal``:

* To save the current position as the position 0, use the following command : 

.. code-block:: console

    o_offset encoder

* To save the current position as a specific position relative to 0 (in degrees), use the following command:

.. code-block:: console

    o_offset joint (position in degrees)

Save the configuration using this command :

.. code-block:: console

    o_config save