{"id":788,"date":"2026-06-12T15:21:04","date_gmt":"2026-06-12T07:21:04","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/vesc-ugv-foc-setup-arduino-uart-control-farsi\/"},"modified":"2026-06-12T15:21:04","modified_gmt":"2026-06-12T07:21:04","slug":"vesc-ugv-foc-setup-arduino-uart-control-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/vesc-ugv-foc-setup-arduino-uart-control-farsi\/","title":{"rendered":"VESC \u0628\u0631\u0627\u06cc UGV: \u0646\u0635\u0628\u060c \u062a\u0646\u0638\u06cc\u0645 FOC \u0648 \u06a9\u0646\u062a\u0631\u0644 \u0627\u0632 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\nVESC \u062a\u0646\u0638\u06cc\u0645 FOC \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 UGV\n<\/div>\n
\n

VESC \u0686\u06cc\u0633\u062a \u0648 \u0686\u0631\u0627 \u0627\u0632 ESC \u0645\u0639\u0645\u0648\u0644\u06cc \u0628\u0647\u062a\u0631 \u0627\u0633\u062a\u061f<\/h2>\n

VESC<\/strong> (Vedder Electronic Speed Controller) \u06cc\u06a9 \u062f\u0631\u0627\u06cc\u0648\u0631 \u0645\u0648\u062a\u0648\u0631 BLDC \u0645\u062a\u0646\u200c\u0628\u0627\u0632 \u0627\u0633\u062a \u06a9\u0647 \u062a\u0648\u0633\u0637 Benjamin Vedder \u0637\u0631\u0627\u062d\u06cc \u0634\u062f\u0647. \u0628\u0631\u062e\u0644\u0627\u0641 ESC\u0647\u0627\u06cc \u0627\u0631\u0632\u0627\u0646 \u0647\u0648\u0627\u067e\u06cc\u0645\u0627\u06cc\u06cc \u06a9\u0647 \u0641\u0642\u0637 \u0633\u0631\u0639\u062a \u0631\u0627 \u062a\u0646\u0638\u06cc\u0645 \u0645\u06cc\u200c\u06a9\u0646\u0646\u062f\u060c VESC \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u062f \u06af\u0634\u062a\u0627\u0648\u0631\u060c \u0645\u0648\u0642\u0639\u06cc\u062a \u0648 \u0633\u0631\u0639\u062a \u0631\u0627 \u0628\u0627 \u062f\u0642\u062a \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0646\u062f\u060c \u0627\u0632 \u0637\u0631\u06cc\u0642 UART\/CAN\/PPM \u0641\u0631\u0645\u0627\u0646 \u0628\u06af\u06cc\u0631\u062f\u060c \u0648 \u062d\u062a\u06cc \u0628\u0631\u0642 \u062a\u0631\u0645\u0632\u06cc \u0628\u0631\u06af\u0631\u062f\u0627\u0646\u062f\u0647 \u0634\u0648\u062f. \u0628\u0631\u0627\u06cc UGV \u06a9\u0647 \u0646\u06cc\u0627\u0632 \u0628\u0647 \u06a9\u0646\u062a\u0631\u0644 \u062f\u0642\u06cc\u0642 \u062f\u0627\u0631\u062f \u0639\u0627\u0644\u06cc \u0627\u0633\u062a.<\/p>\n

FOC<\/strong> (Field Oriented Control) \u0631\u0648\u0634\u06cc \u0627\u0633\u062a \u06a9\u0647 \u0645\u0637\u0645\u0626\u0646 \u0645\u06cc\u200c\u0634\u0648\u062f \u062c\u0631\u06cc\u0627\u0646 \u0627\u0644\u06a9\u062a\u0631\u06cc\u06a9\u06cc \u0647\u0645\u06cc\u0634\u0647 \u062f\u0631 \u0628\u0647\u062a\u0631\u06cc\u0646 \u0632\u0627\u0648\u06cc\u0647 \u0646\u0633\u0628\u062a \u0628\u0647 \u0645\u06af\u0646\u062a\u200c\u0647\u0627\u06cc \u0631\u0648\u062a\u0648\u0631 \u0628\u0627\u0634\u062f \u2014 \u06a9\u0627\u0631\u0627\u06cc\u06cc \u0628\u0627\u0644\u0627\u062a\u0631\u060c \u06af\u0634\u062a\u0627\u0648\u0631 \u0628\u06cc\u0634\u062a\u0631 \u062f\u0631 RPM \u067e\u0627\u06cc\u06cc\u0646\u060c \u0648 \u0635\u062f\u0627 \u06a9\u0645\u062a\u0631.<\/p>\n<\/div>\n

\n

🛠️ \u06a9\u0627\u0631\u062a \u067e\u0631\u0648\u0698\u0647<\/h3>\n\n\n\n\n
\u0648\u0644\u062a\u0627\u0698 \u06a9\u0627\u0631\u06cc<\/td>\n\u06f8\u2013\u06f6\u06f0V (VESC 4.12 \u062a\u0627 \u06f5\u06f7V)<\/td>\n<\/tr>\n
\u062c\u0631\u06cc\u0627\u0646 \u067e\u06cc\u06a9<\/td>\n\u062a\u0627 \u06f1\u06f2\u06f0A (VESC 4.12 \u2248 \u06f5\u06f0A continuous)<\/td>\n<\/tr>\n
\u0642\u06cc\u0645\u062a<\/td>\n~\u06f5\u06f0\u06f0\u2013\u06f1\u06f2\u06f0\u06f0K (\u062a\u06a9\u06cc \u06cc\u0627 Dual)<\/td>\n<\/tr>\n<\/table>\n<\/div>\n

\u0645\u0631\u0627\u062d\u0644 \u062a\u0646\u0638\u06cc\u0645 VESC \u0628\u0627 VESC Tool<\/h2>\n
    \n
  1. \u062f\u0627\u0646\u0644\u0648\u062f: vesc-project.com\/vesc_tool<\/a> \u2014 \u0646\u0633\u062e\u0647 \u0631\u0627\u06cc\u06af\u0627\u0646 \u06a9\u0627\u0641\u06cc \u0627\u0633\u062a.<\/li>\n
  2. \u0628\u0627\u062a\u0631\u06cc \u0631\u0627 \u0648\u0635\u0644 \u06a9\u0646\u060c VESC \u0631\u0627 \u0628\u0627 USB \u0628\u0647 \u06a9\u0627\u0645\u067e\u06cc\u0648\u062a\u0631 \u0648\u0635\u0644 \u06a9\u0646.<\/li>\n
  3. \u06a9\u0644\u06cc\u06a9 Connect<\/strong> (\u067e\u0648\u0631\u062a USB\/Serial \u0631\u0627 \u0627\u0646\u062a\u062e\u0627\u0628 \u06a9\u0646).<\/li>\n
  4. \u0627\u0632 \u0645\u0646\u0648\u06cc Setup: Motor Wizard<\/strong> \u2192 \u0646\u0648\u0639 \u0645\u0648\u062a\u0648\u0631 = BLDC \u06cc\u0627 Inrunner\/Outrunner.<\/li>\n
  5. \u06a9\u0644\u06cc\u06a9 Detect Motor Parameters<\/strong> \u2014 \u0645\u0648\u062a\u0648\u0631 \u0628\u0647 \u0622\u0631\u0627\u0645\u06cc \u0645\u06cc\u200c\u0686\u0631\u062e\u062f \u0648 \u067e\u0627\u0631\u0627\u0645\u062a\u0631\u0647\u0627 \u0634\u0646\u0627\u0633\u0627\u06cc\u06cc \u0645\u06cc\u200c\u0634\u0648\u0646\u062f.<\/li>\n
  6. \u062f\u0631 \u062a\u0628 Motor Settings \u2192 General<\/strong>: \u062c\u0631\u06cc\u0627\u0646 \u0645\u0648\u062a\u0648\u0631 = \u06f0.\u06f8 \u00d7 \u062c\u0631\u06cc\u0627\u0646 \u0646\u0627\u0645\u06cc \u0645\u0648\u062a\u0648\u0631.<\/li>\n
  7. FOC \u0631\u0627 \u062f\u0631 \u062a\u0628 FOC<\/strong> \u0641\u0639\u0627\u0644 \u06a9\u0646 \u2014 Hall Sensor Detect \u0631\u0627 \u0627\u062c\u0631\u0627 \u06a9\u0646 \u0627\u06af\u0631 \u062d\u0633\u06af\u0631 \u062f\u0627\u0631\u062f.<\/li>\n
  8. \u062f\u0631 App Settings \u2192 UART<\/strong>: \u0628\u0648\u062f\u0631\u06cc\u062a \u0631\u0627 \u06f1\u06f1\u06f5\u06f2\u06f0\u06f0 \u06a9\u0646.<\/li>\n<\/ol>\n

    \u06a9\u062f \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u2014 \u06a9\u0646\u062a\u0631\u0644 \u0627\u0632 \u0637\u0631\u06cc\u0642 UART<\/h2>\n
    \/\/ \u06a9\u062a\u0627\u0628\u062e\u0627\u0646\u0647: arduino-vesc (GitHub: solidGeek)\n#include \"VescUart.h\"\nVescUart VESC;\n\nvoid setup(){\n  Serial1.begin(115200);\n  VESC.setSerialPort(&Serial1);\n}\n\nvoid loop(){\n  \/\/ \u06a9\u0646\u062a\u0631\u0644 \u0633\u0631\u0639\u062a \u2014 RPM\n  VESC.setRPM(3000);   \/\/ \u062c\u0644\u0648 \u06f3\u06f0\u06f0\u06f0RPM\n  delay(2000);\n  VESC.setRPM(0);\n  delay(500);\n  VESC.setRPM(-3000);  \/\/ \u0628\u0631\u0639\u06a9\u0633\n  delay(2000);\n  VESC.setRPM(0);\n  delay(1000);\n\n  \/\/ \u062e\u0648\u0627\u0646\u062f\u0646 \u062a\u0644\u0647\u200c\u0645\u062a\u0631\u06cc\n  if(VESC.getVescValues()){\n    Serial.print(\"RPM: \"); Serial.println(VESC.data.rpm);\n    Serial.print(\"Voltage: \"); Serial.println(VESC.data.inpVoltage);\n    Serial.print(\"Current: \"); Serial.println(VESC.data.avgMotorCurrent);\n  }\n}<\/code><\/pre>\n
    \u062c\u062f\u0648\u0644 \u062c\u0631\u06cc\u0627\u0646 \u067e\u06cc\u0634\u0646\u0647\u0627\u062f\u06cc \u0628\u0631\u0627\u06cc \u0645\u0648\u062a\u0648\u0631\u0647\u0627\u06cc \u0631\u0627\u06cc\u062c<\/h2>\n\n\n\n\n\n\n\n
    \u0645\u0648\u062a\u0648\u0631<\/th>\n\u062c\u0631\u06cc\u0627\u0646 Motor Max<\/th>\n\u062c\u0631\u06cc\u0627\u0646 Battery Max<\/th>\n<\/tr>\n<\/thead>\n
    Hub Motor Hoverboard 250W<\/td>\n40A<\/td>\n20A<\/td>\n<\/tr>\n
    BLDC Outrunner 5065<\/td>\n50A<\/td>\n25A<\/td>\n<\/tr>\n
    BLDC Inrunner 5045<\/td>\n60A<\/td>\n30A<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n