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SolidGeek / VescUart

An Arduino library for interfacing with the VESC over UART
GNU General Public License v3.0
177 stars 92 forks source link

Feature Request- set max current #28

Closed h2omatt closed 3 years ago

h2omatt commented 3 years ago

First off I am new to the VESC community and this library worked first try and is really awesome.

I don't know if this is the best place to ask but I really need help. I would like to be able to use setRPM to control the motor speed but also be able to limit the motor current. I have tried to do speed control by using a PID loop using setCurrent and then UART.data.rpm and my PID parameter.

Is there a way I could send a setRPM and setMaxCurrent command? I am open to suggestions too.

SolidGeek commented 3 years ago

Hi mate, glad you like the library!

There is no command for setting the max current in the COMM_PACKET_ID enum data structure. Instead one has to read the entire configuration using COMM_GET_MCCONF, change the max current and then update the settings using COMM_SET_MCCONF. This is not meant to be done live, meaning, that the configuration should only be changed during startup or at standstill. I don't know if this could be useful?

Did you manage to get the PID control working? I have not tried myself, but I figure, that the RPM has to be read very fast, so increasing the baud-rate and sample-rate might be helpful.

h2omatt commented 3 years ago

SolidGeek, thanks for the response!

I did get the PID working! it works amazing actually. I had a very dumb programming error but once fixed it works perfect.