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Fast ramping down in both directions


#1

Hi,

I have my Vescs for my robot project. I have managed to get reasonable control from them but find that the motor ramps down slowly, this is fine for a board but I would like my robot to change direction faster. Ie when i let go of the throttle i want the wheel to stop spinning quickly. Which setting on the Vesc should I change?

Thanks


#2

what sort of control are you using> Current, Duty Cycle, PID velocity?


#3

Hi, I am using current


#4

Go to Motor configuration->advanced->Max Current Ramp Step(under Backoff and Ramping). Increase that value until you get desired effect.

What’s your present value?


#5

Hi, its currently set at 0.04 (max current ramp step)


#6

Does this also results in a punchier / harder / faster acceleration?


#7

If it’s set to 0.04 at 1Khz(1000Hz) means that at every 1/1000 sec the current can change by a max of 0.04A. So basically if you instantly command a change of 20Amps to the controller it will take 20/0.04 = 500milli second = 0.5 seconds to achieve that commanded current.

By change in Amps I mean, you could start at 0 Amps and instantly command 20 Amps or you could start at 10 A and instantly command 30A.

So it controls how fast you reach your desired current(in effect acceleration on flat ground).


#8

Did it help?


#9

Hi,

I selected duty cycle, and now the ramping is much more aggressive, thanks!