Throttle - Revision history

Fromeijn: fix example

2026-05-02T10:56:45Z

fix example

← Older revision		Revision as of 10:56, 2 May 2026
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	# relative current control		# relative current control
	cansend can0 337#~~AA0400000000~~		cansend can0 337#AA0500000000
	</syntaxhighlight>		</syntaxhighlight>

Aran Dokoupil: /* Setting the Control Mode over CAN */

2026-04-06T11:35:24Z

Setting the Control Mode over CAN

← Older revision		Revision as of 11:35, 6 April 2026
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	== Setting the Control Mode over CAN ==		== Setting the Control Mode over CAN ==
	The Throttle controls the VESC motodriver at 40Hz messaging rate with the default CAN format implemented inside the VESC. [https://dongilc.gitbook.io/openrobot-inc/tutorials/control-with-can More info on the format.] The throttle supports the following modes:		The Throttle controls the VESC motodriver at 40Hz messaging rate with the default CAN format implemented inside the VESC. [https://dongilc.gitbook.io/openrobot-inc/tutorials/control-with-can More info on the format.] and [https://triforce-docs.readthedocs.io/en/latest/canbus/canbus.html Here]. The throttle supports the following modes:

	{\| class="wikitable"		{\| class="wikitable"

Aran Dokoupil: /* Setting the Control Mode over CAN */

2026-04-05T14:11:08Z

Setting the Control Mode over CAN

← Older revision		Revision as of 14:11, 5 April 2026
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	! Control Mode !! Configuration Byte Value !! Unit !! Additional data required		! Control Mode !! Configuration Byte Value !! Unit !! Additional data required
	\|-		\|-
	\| Duty Cycle\|\| ~~0x00~~ \|\| Percentage \|\| None lever in the maximum forward position is 100%		\| Filtered Duty Cycle \|\| 0x01 \|\| Percentage \|\| None lever in the maximum forward position is 100%
	\|-		\|-
	\|~~Filtered~~ Duty Cycle\|\| ~~0x01~~ \|\| Percentage \|\| None lever in the maximum forward position is 100%		\|Duty Cycle\|\| 0x02 \|\| Percentage \|\| None lever in the maximum forward position is 100%
	\|-		\|-
	\|Current Control \|\| ~~0x02~~ \|\| 100mA \|\| Specify the max current for forward and backwards in two int16_t's		\|Current Control \|\| 0x03 \|\| 100mA \|\| Specify the max current for forward and backwards in two int16_t's
	\|-		\|-
	\|RPM Control \|\| ~~0x03~~ \|\| RPM \|\| Specify the rpm for forward and backwards in two int16_t's		\|RPM Control \|\| 0x04 \|\| RPM \|\| Specify the rpm for forward and backwards in two int16_t's
	\|-		\|-
	\|Current Control Relative		\|Current Control Relative
	\|~~0x04~~		\|0x05
	\|Percentage		\|Percentage
	\|None lever in the maximum forward position is 100%		\|None lever in the maximum forward position is 100%
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	<syntaxhighlight lang="bash" line="1" start="69">		<syntaxhighlight lang="bash" line="1" start="69">
	# duty cycle		# duty cycle
	cansend can0 337#~~AA0000000000~~		cansend can0 337#AA0200000000

	# 120A current control		# 120A current control
	cansend can0 337#~~AA0204B004B0~~		cansend can0 337#AA0304B004B0

	# relative current control		# relative current control

Fromeijn at 19:45, 4 April 2026

2026-04-04T19:45:16Z

← Older revision		Revision as of 19:45, 4 April 2026
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	==== Example command: ====		==== Example command: ====
	<syntaxhighlight lang="bash" line="1" start="69">		<syntaxhighlight lang="bash" line="1" start="69">
	cansend ~~can2~~ 337#AA0000000000		# duty cycle
			cansend can0 337#AA0000000000

			# 120A current control
			cansend can0 337#AA0204B004B0

			# relative current control
			cansend can0 337#AA0400000000
	</syntaxhighlight>		</syntaxhighlight>

Quintenlb at 17:00, 11 November 2025

2025-11-11T17:00:47Z

← Older revision		Revision as of 17:00, 11 November 2025
Line 1:		Line 1:
	The throttle controls the motor and is operated by the pilot during sailing. It controls the duty cycle of the motor via the CAN bus using the standard VESC message format.		The throttle controls the motor and is operated by the pilot during sailing. It controls the duty cycle of the motor via the [[CAN-bus\|CAN bus]] using the standard VESC message format.

	== Usage ==		== Usage ==
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	# The ''dead-man cord'' needs to be applied to the bottom of the throttle body, should snap in place magnetically		# The ''dead-man cord'' needs to be applied to the bottom of the throttle body, should snap in place magnetically
	# The ''throttle lever'' Should be in its neutral position, pointing straight up with a noticeable tactile bump		# The ''throttle lever'' Should be in its neutral position, pointing straight up with a noticeable tactile bump
	# The CAN bus need to be actively acknowledging packets, which means other devices need to be active on the bus		# The [[CAN-bus\|CAN bus]] need to be actively acknowledging packets, which means other devices need to be active on the bus
	# No other error should have occurred inside the electronics		# No other error should have occurred inside the electronics

Aran Dokoupil: /* Setting the Control Mode over CAN */

2025-05-17T07:00:10Z

Setting the Control Mode over CAN

← Older revision		Revision as of 07:00, 17 May 2025
Line 24:		Line 24:

	== Setting the Control Mode over CAN ==		== Setting the Control Mode over CAN ==
	The Throttle controls the VESC motodriver at ~~10Hz~~ messaging rate with the default CAN format implemented inside the VESC. [https://dongilc.gitbook.io/openrobot-inc/tutorials/control-with-can More info on the format.] The throttle supports the following modes:		The Throttle controls the VESC motodriver at 40Hz messaging rate with the default CAN format implemented inside the VESC. [https://dongilc.gitbook.io/openrobot-inc/tutorials/control-with-can More info on the format.] The throttle supports the following modes:

	{\| class="wikitable"		{\| class="wikitable"

Aran Dokoupil: /* Setting the Control Mode over CAN */

2025-05-17T06:44:53Z

Setting the Control Mode over CAN

← Older revision		Revision as of 06:44, 17 May 2025
Line 24:		Line 24:

	== Setting the Control Mode over CAN ==		== Setting the Control Mode over CAN ==
	The Throttle controls the VESC motodriver at 10Hz messaging rate with the default CAN format implemented inside the VESC. [https://dongilc.gitbook.io/openrobot-inc/tutorials/control-with-can More info on the format.] The throttle supports ~~four~~ modes:		The Throttle controls the VESC motodriver at 10Hz messaging rate with the default CAN format implemented inside the VESC. [https://dongilc.gitbook.io/openrobot-inc/tutorials/control-with-can More info on the format.] The throttle supports the following modes:

	{\| class="wikitable"		{\| class="wikitable"

Aran Dokoupil: /* Setting the Control Mode over CAN */

2025-05-17T06:26:07Z

Setting the Control Mode over CAN

← Older revision		Revision as of 06:26, 17 May 2025
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	\|-		\|-
	\|RPM Control \|\| 0x03 \|\| RPM \|\| Specify the rpm for forward and backwards in two int16_t's		\|RPM Control \|\| 0x03 \|\| RPM \|\| Specify the rpm for forward and backwards in two int16_t's
			\|-
			\|Current Control Relative
			\|0x04
			\|Percentage
			\|None lever in the maximum forward position is 100%
	\|}		\|}

Fromeijn: /* Setting the Control Mode over CAN */ Off by one error

2024-10-07T18:44:22Z

Setting the Control Mode over CAN: Off by one error

← Older revision		Revision as of 18:44, 7 October 2024
Line 31:		Line 31:
	! Control Mode !! Configuration Byte Value !! Unit !! Additional data required		! Control Mode !! Configuration Byte Value !! Unit !! Additional data required
	\|-		\|-
	\| Duty Cycle\|\| ~~0x01~~ \|\| Percentage \|\| None lever in the maximum forward position is 100%		\| Duty Cycle\|\| 0x00 \|\| Percentage \|\| None lever in the maximum forward position is 100%
	\|-		\|-
	\|Filtered Duty Cycle\|\| ~~0x02~~ \|\| Percentage \|\| None lever in the maximum forward position is 100%		\|Filtered Duty Cycle\|\| 0x01 \|\| Percentage \|\| None lever in the maximum forward position is 100%
	\|-		\|-
	\|Current Control \|\| ~~0x03~~ \|\| 100mA \|\| Specify the max current for forward and backwards in two int16_t's		\|Current Control \|\| 0x02 \|\| 100mA \|\| Specify the max current for forward and backwards in two int16_t's
	\|-		\|-
	\|RPM Control \|\| ~~0x04~~ \|\| RPM \|\| Specify the rpm for forward and backwards in two int16_t's		\|RPM Control \|\| 0x03 \|\| RPM \|\| Specify the rpm for forward and backwards in two int16_t's
	\|}		\|}

Quintenlb: added command

2024-08-23T11:37:30Z

added command

← Older revision		Revision as of 11:37, 23 August 2024
Line 41:		Line 41:


	These modes can be send to the throttle when the throttle is off. If the throttle is on the configuration will be ignored. A sound will play when a message is received. The message has to be send to the Throttle address ~~0x1337~~, same as the reboot command. the format is as follows:		These modes can be send to the throttle when the throttle is off. If the throttle is on the configuration will be ignored. A sound will play when a message is received. The message has to be send to the Throttle address 0x337, same as the reboot command. the format is as follows:

	{\| class="wikitable"		{\| class="wikitable"
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	\|}		\|}

			==== Example command: ====
			<syntaxhighlight lang="bash" line="1" start="69">
			cansend can2 337#AA0000000000
			</syntaxhighlight>

	== CAN Diagnostics messages ==		== CAN Diagnostics messages ==