Reverse Driving - Negative Duty Cycle Problem

[kikass13]

Hello,

i have a robot which should be able to drive forwards and backwards and two vescs controlling two motors (HEINZMANN Electric Motors)

My firmware sends current control commands to the vesc and forward driving works fine, but when trying to drive backwards (with the same current command) the motor stutters and i don't really move anymore.

I am not really that knowledgeable with the vesc tool, and I can't find any problem with forward / reverse current or RPM conigurations which could lead to such an asymmetric behavior.

• Here's what the tool says when I tell it to drive a duty cycle of 0.15

• Here's what the tool say when I tell it to drive a duty cycle of -0.15

Maybe someone can point me to the configuration im missing

the obvious ones look like this:

• 
• 

Thanks :)

[kikass13]

Problem just "disappeared" in firmware version 6.02 with the same configuration from before :)