I am building a small power wheelchair for a child using two Flipsky VESC to control Backfire Longboard Hub Motors.
I am using the development branch of the RollingGecko/VescUartControl library to control the VESCs via an Arduino Mega. The two VESCs are each connected to a hardware serial port and using UART communications.
Whether I apply braking via SUART.setBrakeCurrent(40) via the Arduino or using the anchor icon in VESCTool I only feel a little resistance to rotation of the wheels.
I would like to be able to hold the device in place on a slope. I am new to using VESCs and would appreciate any advice.
Here are a few pictures of the device so far. Steering and maneuverability are excellent. I just need to figure out braking. Then I will add the floor, seat, rear bumper and tail lights.
I am using a Wii Nunchuck using differential steering code that I have hacked together.
I am setting wheel motor speed by RPM and currently have max RPM limited to 3,000.
Here is a video of it driving around. I did a poor job driving while distracted by the phone. At the beginning of the video it is locked which is indicated by the right and left status LEDs being red. Holding down both buttons on the nunchuck for two seconds unlocks the vehicle and switches the status LEDs to a battery indicator. Currently it is in need of a charge.
I may starting adjusting amperage supplied to the motors in code on the Arduino to approximate braking. I was hoping that the VESC would take care of that but I am just getting started with VESCs.
I had not realized that the (!) icons beside IB and HB turned those on. HB > 10 is exactly what I need. Now I need to figure out how to activate that from the Arduino.
Thanks for getting me moving in the right direction.
I have not yet resolved the braking issue but wanted to share updated build pictures. It transported a person for first time last night. Rolling resistance was a challenge on carpet. I have ordered 8.5" hoverboard wheels and will try them on the back.
I have switched to larger wheels to better handle driving on carpet. The ESkate wheels were mounted below a single extrusion using a 3D printed solid plastic block, two bolts and two t-nuts to secure the shaft coming out of the wheel hubs.
For these larger wheels I mounted on top of the extrusion to maintain the ride height. These are from a hover board and I was able to obtain the original metal clamping piece. I doubled up the extrusions with a spacer between and printed a solid block to complete the mount.
I used t-nuts and two 4mm screws with the ESkate wheels.
I tapped the extrusions for 6mm screws with the hoverboard mount.
The 4mm screws and t-nuts held well with the ESkate wheels. Initially I was printing the mounts with 40% infill. I broke a few mounts before printing at 100% infill.