########## 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