VescDriver: support commanding motor duty cycle

src/drivers/vesc/VescDriver/VescDriver.cpp

@@ -39,6 +39,14 @@
 #include "VescDriver.hpp"
 #include <memory.h>
 
+void VescDriver::commandDutyCycle(float duty_cycle)
+{
+	uint8_t command[5] {VescCommand::SET_DUTY};
+	uint16_t index{1};
+	insertInt32(command, index, static_cast<int32_t>(duty_cycle * 100000.f));
+	sendPacket(command, 5);
+}
+
 void VescDriver::commandCurrent(float current)
 {
 	uint8_t command[5] {VescCommand::SET_CURRENT};

src/drivers/vesc/VescDriver/VescDriver.hpp

@@ -51,6 +51,7 @@ public:
 	VescDriver(VescWritable *vesc_writable) : _vesc_writable(vesc_writable) {};
 	~VescDriver() = default;
 
+	void commandDutyCycle(float duty_cycle);
 	void commandCurrent(float current);
 	void commandBrakeCurrent(float current);
 

src/drivers/vesc/VescSerialDevice.cpp

@@ -79,7 +79,7 @@ void VescDevice::Run()
 	}
 
 	_vesc_driver.requestFirmwareVersion();
-	_vesc_driver.commandCurrent(.5f);
+	_vesc_driver.commandDutyCycle(.05f);
 
 	// Check the number of bytes available in the buffer
 	int bytes_available{0};