VESC aka FSEC

VESC Setup and unbricking

• VESC type: Mini FSESC4.20 50A base on VESC® 4.12 with Aluminum Anodized Heat Sink
• Github vesc page: vedderb/bldc: The VESC motor control firmware

Setup

1. Download the the vesc tool
2. Turn car upside down and do foc detection with small inrunner (200g) with full vesc battery
3. Set MotorSettings/Advanced/Maximum_input_voltage to 6.2V
4. Set AppSettings/General/EnableServoOutput to TRUE (very important cannot turn car without this)
5. Write app config and motor settings to VESC

We also tried the following settings:

• Medium inrunner motor
• Cells in Series: 6 cells
• 3aH (or 3k mAh)
• 52mm wheel
  • 4 motor pole
  • no tempature sensor

Old board setup

> - For current limit, select general -> voltage, cut start at 8.4, cutoff end at 6v. 

> - We used to have to erase the registers for the bootloader (certain values), but with a complete earase 

Unbricking (Red AND blue light flashing)

Red flashing LED vesc

Under volt error, copy the settings from one of the other robots onto this one..

Connecting

1. Use the ST Link looks like this
2. Download the following and open
3. Connect the pins using a female-female wire as per below, note that only RST,DIO,CKK needs to be connected
   1. In this case, NC = DO NOT USE, - = GRND
   2. the 3.3V in was not used
4. Connect using the STM32 cubeprog and reflash

Next steps: YDLidar X4 Pro and 435i realsense