VESC-Tool 2.04: FW 5 >> A BIG STEP FORWARD

[taz]

I like the way it is implemented but would prefer an actual temperature differential instead of the percentage.

[hans_maier]

Bricking the VESCs for example is pretty easy … I managed to do it at least once

[malJohann]

@malJohann

any idea why the behaviour of HFI changes when I set only the Sensorless ERPM HFI lower? Surely it shouldn’t change how it behaves, just when it stops functioning?

e.g. With my Sensorless ERPM HFI set to 1000 it works perfectly on flat or slope, lower it to 750 and it starts with a bit of a jolt and trying to start on a slope has it freaking out, lower it to 500 and I’m stuck rocking in place going nowhere even on flat ground.

Also, I have to really crank up the Battery Current Max for it to work. On the Stormcores 60A isn’t enough, but on 100A HFI works well.

@Deodand do you maybe have any ideas on this?

[bwahl602]

Oh haven’t looked for it yet. Is push to start enabled for unity and does anyone have it functioning okay?
I remember there being some issues with remote repairing or something

[Deodand]

Push to start is enabled. Sometimes the VX1 reciever doesn’t boot cleanly for some reason.

@malJohann Probably a certain amount of noise in the RPM measurement (we use a special faster/noisier one that what is displayed) at startup could make it exceed the limit? I’m not 100% sure but that is my best guess. I would keep it at 1000 as that is still really low.

[Jc06505n]

Hey @Deodand, hoping you can answer this question, does the Official VESC FW have Cruise Control? I I’m thinking of implementing a Push Assists Mode based on a modified version of cruise control, but it seems that it’s only limited to the VESC Wand Ackmaniac firmware, and remotes?

[ducktaperules]

“Cruise control” is basically PID control and it is implemented in some of the control apps. Specifically if your using the “nunchuk” app then cruse control is supported by pressing the c button. the nunchuck app is whats used by the wand and other uart remotes with CC functions. this should work on all recent and current firmware’s.

Code for how this works is found at https://github.com/vedderb/bldc/blob/dev_fw_5_02/applications/app_nunchuk.c line 294 and onward.

Are you planning to add push assist that is activated by the remote or a true “endless ride” style where no remote is necessary?

[Jc06505n]

@ducktaperules

“Cruise control” is basically PID control and it is implemented in some of the control apps. Specifically if your using the “nunchuk” app then cruse control is supported by pressing the c button. the nunchuck app is whats used by the wand and other uart remotes with CC functions. this should work on all recent and current firmware’s.

Code for how this works is found at https://github.com/vedderb/bldc/blob/dev_fw_5_02/applications/app_nunchuk.c line 294 and onward.

I see awesome! Thank you so much! I’ve taken a look and learned a lot from it.

@ducktaperules

Are you planning to add push assist that is activated by the remote or a true “endless ride” style where no remote is necessary?

I’m more so planning more closer to Mellow’s implementation: a “Timed-Cruised Control”. My idea is having it as a Control Type where there user can set a MAX ERPM, MAX ERPM Holding Time, and Normal ERPM Holding time. The Remote’s only function is: to be on so that the mode will function and allow breaking. With the VESC Tool App, it should be a matter of selecting a profile to switch back to another Control Type Right?

I don’t see a way of doing endless ride without a remote since breaking is a needed feature. Adding sensors at that point it seems more like a solution in search for a problem that’s already solved.

[ducktaperules]

I think you would have to make “endless mode” a control option that sits alongside the other options eg “current”, “current no reverse”, “smart reverse”. you have to add this new control mode to each different type of remote that you want to support. At a minimum that is probably the PPM app and the Nunchuk app.

IMO the current remote configuration and control type of the vesc is less than ideal right now. Ideally the input type (eg ppm, nunchuk, adc) should be decoupled from the scaling/calibration/expo which should also be decoupled from the type of control that is being used. This way new control modes could easily be added which would be supported by all input types. Likewise new remote types would instantly support every control type. It would also mean that many setting like throttle expo would be found in a single place in the vesc tool rather than in multiple tabs depending on remote type.

/rant

[Jc06505n]

@ducktaperules

I think you would have to make “endless mode” a control option that sits alongside the other options eg “current”, “current no reverse”, “smart reverse”. you have to add this new control mode to each different type of remote that you want to support. At a minimum that is probably the PPM app and the Nunchuk app.

Yup Exactly my plan. Since Trademark could be a hassle I plan on naming the Control Type: “Push Assist” instead of Endless Mode.

@ducktaperules

IMO the current remote configuration and control type of the vesc is less than ideal right now. Ideally the input type (eg ppm, nunchuk, adc) should be decoupled from the scaling/calibration/expo which should also be decoupled from the type of control that is being used. This way new control modes could easily be added which would be supported by all input types. Likewise new remote types would instantly support every control type. It would also mean that many setting like throttle expo would be found in a single place in the vesc tool rather than in multiple tabs depending on remote type.

Yeah when looking at the tool and the gihub, I didn’t like how it was all inter-looped. But I can manage. Thank you so much man.

One further question, how does PID and Cruise Control work on going down hills? Does the Current FW have it where the board will try to retain the set speed and be successful or will it speed up and once you’re off the hill it retains the speed it achieved from the descent?

[ducktaperules]

Never tried it but from looking at the code I would assume it tries to maintain the current set speed regardless of if it’s up hill or down hill. I don’t see anywhere that it ajusts the set speed based on over or undershoot of the target.

[Jc06505n]

Perfect , Thank you so much!

[Fatglottis]

Today I found out how to eliminate the resonance/ vibrations I have had in one of my front hub motor on the scooter. They appear at two places in the rpm span.
I simply set “High current sampling mode” to TRUE

“Enabling this option will make the current measurement compare all motor currents and derive the highest one from the two lower currents”

Is it possible that one of the current amplifiers in my ESC is not feeling well and enable this setting covers for this issue?

With BLDC i don’t have these vibrations.

I will see how it works out Tomorrow when I put load on the motor. (The motor have performed like a champion as it was but it would be pretty sweet to get it to run as smooth as the rear motor)

I shot a video where you can see the comparison. First set to FALSE and later set to TRUE

[b264]

No video, only sound

[Fatglottis]

Seems like I can see the video from my phone but not from the computer.

Its the vibrations I wanted to demonstrate anyway (the noise is not from the motor btw. It’s from the not so amazing front suspension)

Here is how it looks… use your imagination to make it spin

[Jc06505n]

I see both video and sound

[b264]

That’s because you paid protection moneies to the Boss

[Jc06505n]

Done some small annotations to try to understand what’s going on:

What is the cc in : config.“stick_erpm_per_s_in_cc” is that cruise control? current control?

Edit: Got it:

The amount of ERPM per second the setpoint changes when giving full joystick input with criuse control activated.

[Jc06505n]

I noticed that app_adc does not keep record of the previous current like app_nunchuck does. Is app_adc able to achieve a smooth transition and not get a spike due to something else or is the spiking and unsmooth transition only relevant to app_nunchuck?

[bwahl602]

Set up the new FW 5.1 on two focbox 1.6 on a direct drive Hummie. 45/-55 30/-13 with smart reverse enabled. Test ride went totally without issue from FW. Still have a can/ dropout to single wheel drive problem were working on. But so far so good. No issues with METR over UART or the VX1 over ppm

Given the age of these, I did have to set the cab status I think it’s called in the app section for both vescs to operate normal over can