![]() ![]() The VESC is wired to the Jetson using a micro USB to USB-A cable. If you are interested in building the VESC firmware from source, you can compile it from the bldc firmware source tree on Github. Note: The actual VESC firmware is available in binary form in the bldc-tool firmwares directory. Once the bldc-tool loads the servo-out firmware on to the VESC, we then load a configuration file which matches the VESC configuration to control a TRAXXAS Velineon 3500 motor. Note: There are also compiled versions of the bldc-tool for x86 machines, if you prefer that route. BLDC is an acronym for Brush Less DC motor. We can flash the STM32 directly from the Jetson using a program called ‘bldc-tool’. For the Jetson RACECAR application, the VESC servo port needs to be programmed as ‘Servo-out’, which allows commands to be sent to the robot steering servo.įortunately there is a compiled binary of the version of the VESC firmware that includes the Servo-out setting. ![]() The default firmware flashed on the VESC-X is ‘Servo-in’, which allows a remote controller to set the motor speed. The STM32 runs ChibiOS, a real-time operating system. Another reason is that the VESC is open source, which allows the curious to explore the motor controller implementation.Īrchitecturally, the VESC has a STM32 ARM Cortex processor. ![]() The stock ESC puts the minimum vehicle speed at around 6 mph. The major reason for the change is to gain full control at low speeds. Looky here:Īs discussed in Part 3 – ESC Motor Controller, the TRAXXAS steering servo and the drive motor Electronic Speed Controller ( ESC) are controlled by PWM signals sent from an on board radio receiver.įor the Jetson RACECAR, we replace the stock TRAXXAS ESC with a Vedder Electronic Speed Controller ( VESC). After finishing the installation of the ROS packages on the Jetson RACECAR, we need to program the VESC, an electronic speed controller, for use in the Jetson RACECAR. ![]()
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