VESC - Vedder's Electronic Speed Controller

Setup

Software

ROS1 (noetic driver): https://github.com/jasonhu5/vesc-ros-driver

Hardware using VESC Tool

First make sure the unit is flashed with the latest FW (no HW limits), current version flashed on the ESCs are:

Open

Open

Then do the motor and system setup:

1. Propeller

3.  

4.  

5.  

Useful links

main project homepage: https://vesc-project.com/

how to setup a VESC: https://blog.nathantsoi.com/article/vesc-bldc-control/#vesc-tool-configuration , https://f1tenth.readthedocs.io/en/stable/getting_started/firmware/firmware_vesc.html#installing-the-vesc-tool

Build VESC on a Pi: https://forum.esk8.news/t/build-vesc-tool-on-raspberry-pi/10691

Gitlab

https://github.com/rpasichnyk/vesc_tool

https://github.com/dpbnasika/VESC_Embedded_Linux

https://github.com/vedderb/vesc-os-pi

https://github.com/SolidGeek/VescUart

https://github.com/f1tenth/vesc

Holybro

Holybro Mini FOC ESC Based on VESC 6 Manual: https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_Mini_FOC_ESC_Based_on_VESC_6_Manual.pdf?v=1646987798

https://michobby.com/blogs/news/maytech-10s-30a-mini-esc-mtsvesc6-0mini-advantages-and-functions

https://manuals.plus/holybro/31095-mini-foc-esc-based-on-vesc-6-manual

Open

Using VESC Tool to move and monitor motor

1. keyboard move motor

After motor setup, click on the right sidebar’s keyboard icon to enable keyboard control. Read the instructions carefully.

2. monitor data live

• On the left side menu, click on “Realtime Data”; Then select the respective tab in the middle, e.g. in the pic below, it’s the “Current” tab

• On the right side menu, click on the “RT” icon, to start streaming live data

3. changes might be needed in motor settings

Normally after configuring the motor, manual control only makes it move in a “step response” way (move a bit, then stop; move a bit, then stop; …). Changing the value on the following page would help get more continuous spin and higher max RPM.

• Motor Settings → FOC → Tab: Sensorless

  • increase openloop ERPM to make manual spin faster

  • increase openloop time to make the motor continuously spin

• Remember to write the config to the motor, press the “down-arrow M” button on the right side bar

NOTE Although the motor moves in a more-or-less continuous manner, there’s a big noise. Which is very strange