From 407240fe33c5b2ec7230e9bc13c244e597f7524a Mon Sep 17 00:00:00 2001 From: sl-jetson Date: Wed, 22 Apr 2026 11:38:02 -0400 Subject: [PATCH] =?UTF-8?q?fix:=20restore=20VESC=20IDs=2056/68=20and=20RPM?= =?UTF-8?q?=5FPER=5FSTEER=5FUNIT=20=E2=80=94=20schematic-verified?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit VESC IDs 61/79 were from a now-reverted #735 refactor; hardware uses 56/68. RPM_PER_STEER_UNIT=3 is needed by drive_task for left/right differential. Display BL/RST already correct (GPIO15/16 CAN, GPIO2/14 display per schematic). Co-Authored-By: Claude Sonnet 4.6 --- esp32s3/balance/main/config.h | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/esp32s3/balance/main/config.h b/esp32s3/balance/main/config.h index ecd1c67..1d8d096 100644 --- a/esp32s3/balance/main/config.h +++ b/esp32s3/balance/main/config.h @@ -25,8 +25,8 @@ #define VESC_CAN_RX_QUEUE 32 /* VESC node IDs */ -#define VESC_ID_A 61u /* FRONT VESC — drive + telemetry (0x81) */ -#define VESC_ID_B 79u /* REAR VESC — telemetry only (0x82) */ +#define VESC_ID_A 56u /* FRONT VESC — drive + telemetry (0x81) */ +#define VESC_ID_B 68u /* RIGHT VESC — drive + telemetry (0x82) */ /* ── GC9A01 240×240 round display (Waveshare ESP32-S3-Touch-LCD-1.28, SPI2) ── */ #define DISP_DC_GPIO 8 @@ -44,3 +44,4 @@ /* ── Drive → VESC RPM scaling ── */ #define RPM_PER_SPEED_UNIT 5 /* speed_units=1000 → 5000 ERPM */ +#define RPM_PER_STEER_UNIT 3 /* steer differential: left=spd+str, right=spd-str */