VESC HW 4.12

[jasilberman]

Describe the bug A clear and concise description of what the bug is. Addition to the VESC HW V4.12 instructions

" VESC out of sync errors: Check that the VESC is connected. If the error persists, make sure you’re using the right VESC driver node. Currently, the vesc package in the f110_system repo only supports VESC 6+. If you have an older implementation of VESC (for example the FOCBox), use the repo here instead. " One needs to indicate the firmware needed to be compatible with the MIT vesc_driver. The driver expects firmware 2.18. But it will not work with the VESC Tools you have on the F1/10 instructions.

See proposed solution below.

To Reproduce Steps to reproduce the behavior: VESC HW4.12. At this point I am using VESC Tool V2.03. It supplies the latest firmware that I could find that has VESC_servoout.bin. As of 28Apr20, the latest VESC Tool is 2.05. It has firmware 5.1. I don’t see vesc_servoout.bin available with it...

I uploaded firmware V4.2 VESC_servoout.bin to the VESC HW 4.12 The BLDC sensored motor was detected without problems.

Need to use this repository to build the vesc_driver into the ROS This is how you can do it. Adjust your paths accordingly ssh to the jetson

cd ~/projects/f110/f110_ws/src/f110_system rm -rf vesc git clone https://github.com/erwincoumans/vesc cd ~/projects/f110/f110_ws catkin_make source devel/setup.bash

No errors during the catkin_make ... That is all.

A quick test with your robot framework with the joystick should do it ex using F1/10. On a terminal tab

source devel/setup.bash roscore

Another terminal tab roslaunch racecar teleop.launch

I had to adjust the axis of my joystick ~/projects/f110/f110_ws/src/f110_system/racecar/racecar/config/racecar-v2/joy_teleop.yaml

I changed the axis to map the jstest I ran

axis: 4 target: drive.speed
axis: 0 target: drive.steering_angle

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Expected behavior A clear and concise description of what you expected to happen.

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[hzheng40]

Hi Jack, Is the issue is regarding older VESC hardware? It might help us understand the proposed changes more to create a Pull Request.

[kimnluong]

Resolved. (see previous issue request)

[jacksilb]

Hi Kim,

Yes. This is to enable HW V4.12. The price of these are <US$60 shipped to the US. Much more affordable for the initial build and replacements.

I believe I got it working. It needs firmware V4.2 (lastest version I found with VESC_servoout.bin).

Thank you, -Jack

[jacksilb]

Sorry. Just saw your other reply. This became duplicate. Thank you -Jack