![]() ![]() Uploaded FW 5.0 to my Unity, running HFI on default settings works a charm mostly. Worthwhile to note that I had to connect to two different VESC ID's manually to set up HFI on each motor.Īlso, when trying to configure HFI when clinking on the Brake icon to test settings the motor only made a momentary "tick" sound, instead of the continuous "whine" on Jeff's video until you click Stop. There is a dev branch for VESC Tool too, but there are barely any changes as the firmware is backwards compatible. I will make more frequent updates to the dev branch than I used to do to master, so you can hopefully follow what is happening easier. If you are into coding and the VESC code, please also look into the code in the dev branch: Traction control in apps also works this way. Motor 1 will always see CAN status messages from motor 2, so activating multiple VESCs over CAN should run both motors for the apps. There is only one app configuration, and it runs on motor 1. At the moment around 27 kHz is the highest supported switching frequency, which is not enforced, so don't set it higher than that as you might need an SWD programmer to recover. So when the switching frequency is changed on one, the other one will be set to the same value. The unity will thus also get two CAN-IDs on the CAN-bus, so it should integrate well with other projects that used can.Įach motor has a unique motor configuration, and the only dependence between them is that they must have the same switching frequency as the timers must run in sync. This means that you treat it just as a regular combinations of two VESCs on CAN. Vary the input voltage and see if the observer tracks wellĮssentially, the second motor pretends to be another VESC on the CAN-bus with the CAN-ID + 1.Use calculated value from old firmware vs new firmware.Observer gain calculation and working parameters.Setups with CAN-bus, including both unitys and single controllers if possible (3+ motors).Singe setups (as a lot of the code is restructured).Use RPM limits, wear protection and take your time. Please be very careful, as I haven't done much testing myself yet. ![]() It would be great if you can help me test this carefully on your setups. Here is a test build of VESC Tool with the new experimental firmware for Linux, Android and Windows: Jeff and me collaborating should be good news for the community, and I look really look forward to seeing what we can do. In some upcoming projects I'm going to work more closely with Jeffrey who made the unity, so the other controllers he makes should be based on the main VESC code base soon. ![]() This means that the focbox unity should work with this release, as well as other dual motor controllers that will come in the future. I'm currently working on firmware version 5 for the VESC, and the major new feature is dual motor support. ![]()
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