https://rusefi.com/forum/viewtopic.php?p=43183#p43183

firmware/controllers/lua/examples/can-adc-server.txt

@@ -0,0 +1,18 @@
+txPayload = {}
+function onTick()
+  auxV = getAuxAnalog(0)
+  print('Hello analog ' .. auxV )
+  -- first byte: integer part, would be autoboxed to int
+  txPayload[1] = auxV
+  -- second byte: fractional part, would be autoboxed to int, overflow would be ignored
+  txPayload[2] = auxV * 256;
+  auxV = getAuxAnalog(1)
+  print('Hello analog ' .. auxV )
+  txPayload[3] = auxV
+  txPayload[4] = auxV * 256;
+  auxV = getAuxAnalog(2)
+  print('Hello analog ' .. auxV )
+  txPayload[5] = auxV
+  txPayload[6] = auxV * 256;
+  txCan(1, 0x600, 1, txPayload)
+end

firmware/controllers/lua/examples/can-client-dc-pid.txt

@@ -0,0 +1,50 @@
+startPwm(0, 800, 0.1)
+-- direction
+startPwm(1, 80, 1.0)
+-- disable
+startPwm(2, 80, 0.0)
+
+pid = Pid.new(2, 0, 0, -100, 100)
+
+biasCurveIndex = findCurveIndex("bias")
+
+canRxAdd(0x600)
+
+voltageFromCan = 0
+
+function onCanRx(bus, id, dlc, data)
+  print('got CAN id=' .. id .. ' dlc='  .. dlc)
+  voltageFromCan =   data[2] / 256.0 + data[1]
+end
+
+function onTick()
+  local targetVoltage = getAuxAnalog(0)
+
+--  local target = interpolate(1, 0, 3.5, 100, targetVoltage)
+  local target = interpolate(1, 0, 3.5, 100, voltageFromCan)
+-- clamp 0 to 100
+  target = math.max(0, target)
+  target = math.min(100, target)
+
+  print('Decoded target: ' .. target)
+
+  local tps = getSensor("TPS1")
+  tps = (tps == nil and 'invalid TPS' or tps)
+  print('Tps ' .. tps)
+
+  local output = pid:get(target, tps)
+
+  local bias = curve(biasCurveIndex, target)
+  print('bias ' .. bias)
+
+  local duty = (bias + output) / 100
+  isPositive = duty > 0;
+  pwmValue = isPositive and duty or -duty
+  setPwmDuty(0, pwmValue)
+
+  dirValue = isPositive and 1 or 0;
+  setPwmDuty(1, dirValue)
+
+  print('pwm ' .. pwmValue .. ' dir ' .. dirValue)
+  print('')
+end