Dual Vesc PID Speed control

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b4zz0rz
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Joined: 17 Oct 2018, 09:13
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Dual Vesc PID Speed control

Postby b4zz0rz » 17 Oct 2018, 09:16

I'm currently in the process of building a 2 wheeled robot. The robot uses hoverboard wheels on either side to roll around.

Im using the CAN-bus to connect the two Vesc's together. This works fine with current control, but I want to use PID-speed control. When applying throttle using the PPM input this works ok, but when the robot is stationary the wheel connected to the slave VESC makes a crackling noise. Also the wheel connected to the VESC with the PPM input keeps a braking current active while the throttle is 0%.

How can I overcome these problems?

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