Adds VESC motor control over USART6 for the SaltyBot self-balancing robot.
Motor1 driven directly via COMM_SET_CURRENT; Motor2 bridged via
COMM_FORWARD_CAN (cmd 34) to CAN ID 68. balance_update() now sends current
commands to both VESCs on every PID tick — 0 A on disarm/fault, scaled ±10 A
when armed (configurable via VESC_CURRENT_MAX_A).
- include/vesc_comm.h: common interface (init, send_current, send_duty)
- src/vesc_uart.c: USART6 @ 115200, CRC16-CCITT, VESC FW 6.6 framing
- src/vesc_can.c: phase-2 stub (TODO: bxCAN + SN65HVD230)
- src/balance.c: wire vesc_comm_send_current() into PID output path
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
sl-firmware
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