Nice!
oh man i would have been a lot more confident but I have to admit something dumb:
when moving to newer vesc_tool 2.06 from something old, I thought I lost “Multiple VESCS Over CAN” setting. so in my head i thought maybe I no longer understood how it works. but… it was still there buried in the PPM section and also the “vesc remote” section for a uart remote, instead of app general section where I had been looking.
The help text describes exactly my understanding of how it works.
Listen for other VESCs on the CAN-bus and send the same control commands to them. Notice that the application only has to be set up on the master VESC
so it’s two part to have it work with control shared over CAN.
1.) “Multiple VESCs over CAN” enabled on the primary.
2.) the secondaries must send a CAN status messages. “can status message mode” in the app general page.
to disable you can not do either of those. but obviously it makes more sense to not do the first one.