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fix: restore VESC IDs 56/68 and RPM_PER_STEER_UNIT — schematic-verified

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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 <noreply@anthropic.com>
This commit is contained in:
sl-jetson 2026-04-22 11:38:02 -04:00
parent 1f88835fac
commit 407240fe33
1 changed files with 3 additions and 2 deletions
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5
esp32s3/balance/main/config.h
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@ -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 */