Connect your ESC to any TIM port (also DSHOT port) of your EtherCAT module.
- TIM
- This refers to the ID of Tim Port.
- Period (us)
- This is the period of the generated PWM signal.
- Initial Value (us)
- This means the initial high pulse width of the PWM signal EtherCAT will send before receiving any command.
You can change the subscriber topic name by inputting a new name in the Motor Command Subscriber Topic Name input
box.
/* Message type: custom_msgs/msg/WriteVanillaPWM */
uint16 channel1 // us
uint16 channel2 // us
uint16 channel3 // us
uint16 channel4 // us