Method process_command

depot/sim-bridge/src/vesc.rs:34–71

Process a command frame. Returns true if it was for this VESC.

(&mut self, frame: &CanFrame)

    /// Process a command frame. Returns true if it was for this VESC.
    pub fn process_command(&mut self, frame: &CanFrame) -> bool {
        if !frame.extended {
            return false;
        }

        let frame_id = (frame.id & 0xFF) as u8;
        if frame_id != self.id {
            return false;
        }

        let cmd = (frame.id >> 8) as u8;

        match cmd {
            // Set RPM
            3 if frame.data.len() >= 4 => {
                self.target_erpm =
                    i32::from_be_bytes([frame.data[0], frame.data[1], frame.data[2], frame.data[3]]);
                true
            }
            // Set current
            1 if frame.data.len() >= 4 => {
                let current_ma =
                    i32::from_be_bytes([frame.data[0], frame.data[1], frame.data[2], frame.data[3]]);
                self.target_erpm = (current_ma as f32 * 10.0) as i32;
                true
            }
            // Set duty
            0 if frame.data.len() >= 4 => {
                let duty_scaled =
                    i32::from_be_bytes([frame.data[0], frame.data[1], frame.data[2], frame.data[3]]);
                const MAX_ERPM: f32 = 8000.0;
                let duty_normalized = duty_scaled as f32 / 100000.0;
                self.target_erpm = (duty_normalized * MAX_ERPM) as i32;
                true
            }
            _ => false,
        }
    }

    /// Update simulation state.
    pub fn tick(&mut self, dt: f64) {