#
# VESC Realtime Data
#

# Voltages
float16 volt_in
float16 volt_d
float16 volt_q

# Temperatures
float16 temp_mos_max
float16 temp_mos_1
float16 temp_mos_2
float16 temp_mos_3
float16 temp_motor_max
float16 temp_motor_1
float16 temp_motor_2

# Currents
float16 curr_motor
float16 curr_in
float16 curr_d
float16 curr_q

# IMU
float16 roll
float16 pitch
float16 yaw
float16 acc_x
float16 acc_y
float16 acc_z
float16 gyro_x
float16 gyro_y
float16 gyro_z

# Other
float16 erpm
float16 rpm
float16 duty
float16 ah_used
float16 ah_charged
float16 wh_used
float16 wh_charged
float16 encoder_pos
float16 battery_level
float16 battery_wh_tot

uint8 fault_code
uint8 vesc_id