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: CFOCer VESC V6 BLDC Motor Controller Setup Guide , https://f1tenth.readthedocs.io/en/stable/getting_started/firmware/firmware_vesc.html#installing-the-vesc-tool

Build VESC on a Pi: Build VESC Tool on Raspberry Pi

Gitlab

GitHub - rpasichnyk/vesc_tool: The source code for VESC Tool. See vesc-project.com

GitHub - dpbnasika/VESC_Embedded_Linux: A project that demonstrates how to communicate between the VESC and embedded linux devices such as Beaglebone Black and Raspberry Pi

GitHub - vedderb/vesc-os-pi: A minimal raspberry pi 3 or 4 image that runs VESC Tool

GitHub - SolidGeek/VescUart: An Arduino library for interfacing with the VESC over UART

GitHub - f1tenth/vesc: Repository for the VESC Controller (ROS1 and ROS2)

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

Maytech 10S 30A mini ESC MTSVESC6.0MINI Advantages and Functions

Holybro 31095 Mini FOC ESC Based on VESC 6 Instructions

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