VESC-Tool 2.0 and Firmware 4.0 - The beginning of a new era - (SERIOUS)

malJohann · February 28, 2020, 12:19am

@Deodand any progress made in getting HFI to the Unity?

Deodand · February 28, 2020, 12:46am

Yes, I’ll have something out soon.

malJohann · February 28, 2020, 12:55am

Love your work mate!

rich · February 28, 2020, 1:05am

I have also wobble problems at speed and it could be the FW4.0 because I tried everything else to solve it without success. It always happens between 44-46km/h (27.3-28.6mph). Setup: Vesc6, 220kv, 1:6.25 gearing, 9".

I recorded some log files and recognized that the duty cycle seems strange. When the wobble happens the value jumps around. Blue line is speed an pink duty cycle.

Here 2 wobbles…

Here 45.72 km/h and 77.40 % duty cycle

Also 45.72 km/h but 92.80 % duty cycle ???

That’s close to 95% but there is also the wobble when it is below 85%, very strange…

malJohann · February 28, 2020, 1:17am

What ESC?

rich · February 28, 2020, 1:18am

Vesc6

Titoxd1000 · February 28, 2020, 1:23am

I like the song choice… Same thing I’m experiencing

b264 · February 28, 2020, 1:48am

Sounds like you hit the max erpm programmed into the tool. I did also notice that Ack firmware is super smooth with that, and the 4.1 is very abrupt when you hit top speed it jerks around a lot.

b264 · February 28, 2020, 1:50am

I think the reason I’m not noticing wobbles — but I notice the very jerky max erpm backoff — is because I’m using single drive.

It looks like when one motor backs off, it speeds up the other motor because of the way the trucks are, which then causes that motor to back off and the other one reengage (because it’s now slowed down a tad) causing a feedback loop.

That’s my hypothesis, anyway.

BTW I’m using Control Mode: Current Hyst Reverse With Brake

Pedrodemio · February 28, 2020, 1:56am

One more vote for something ERPM related, since there isn’t any tuning of the speed PID for each specific board this looks exactly like and overshoot and over correct while being under dampened

Titoxd1000 · February 28, 2020, 1:56am

Max erpm is default at 80% off 100k. My setup is no capable of 80k, it’s below 60k erpm… 31mph would be about 45k erpm on my setup

b264 · February 28, 2020, 2:02am

Then maybe it’s simply a bug? I am also noticing this but it’s not wobbling me out like @rich’s video

Titoxd1000 · February 28, 2020, 2:12am

Yes. I would say it’s non stable

DerelictRobot · February 28, 2020, 2:26am

@Trampa I’m a big fan of having specific real world examples of points I’m trying to make. This is one of those very examples.

Do you recall a certain stable/unstable discussion recently and how the lack of a dev/stable cycle can be problematic?

You have multiple users, including @rich (whom I’m particularly fond of thanks to his sweet choice in hubs and also greatly trust his experience/insight), reporting issues.

This is going to happen. It’ll keep happening. It’s part of hardware development.

Which is exactly why it should be happening as an opt-in dev branch so users have visibility & choice.

rusins · February 28, 2020, 2:38am

@Titoxd1000 really set you up for that, didn’t he?

DerelictRobot · February 28, 2020, 2:43am

I am nothing if not a proper opportunist.

b264 · February 28, 2020, 2:50am

This thread is for the unstable trampa branch.

The stable code will be over here

SeanHacker · February 28, 2020, 2:55am

It’s been awhile Brian. But finally, just finally I can agree with you. Let’s make out really quick…

P.S- Serious too…

b264 · February 28, 2020, 2:56am

@rich What control mode are you using in that video?

b264 · February 28, 2020, 2:58am

This is my first foray away from the rock-solid @Ackmaniac code, and only for the HFI feature. Which, by the way, is a new “essential feature” on any of my skates