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jkaflik / OpenMowerROS2

Just another software stack for OpenMower lawn mower robot, but this time with ROS2!
https://jkaflik.github.io/OpenMowerROS2/
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VESC motor parameters #1

Closed jkaflik closed 12 months ago

jkaflik commented 1 year ago

Need to reverse-engineer some of the values required for a correct VESC HW interface: https://github.com/sbgisen/vesc/tree/humble-devel/vesc_hw_interface

                <param name="num_rotor_poles">14</param>
                <param name="num_hall_sensors">8</param>
                <param name="gear_ratio">-0.5</param>
                <param name="torque_const">1.0</param>

so far, rotor poles number seems to be correct based on VESC config