VESCuino Shield Ver 0.1

The accuracy of reaching the target position was examined using the Goto controller and 3D printed Actuator.

DPS control allows accurate tracking from very low speed to very high speed. It is a Servo control algorithm that can be applied to VESC firmware as a custom application.

- DPS Control means Degree Per Second Control

- I can command target velocity as DPS unit

- The motor is controlled to track precise position profile to follow the target velocity

Original VESC(https://vesc-project.com/) are optimized for electric skateboards or scooters, making them suitable for high current and powerful motor driving. 

The MJ-VESC(https://drcl.mju.ac.kr/research/on-go...) I developed has been modified to increase the accuracy of low current control and position control in the existing firmware and hardware of VESC.

I added a profile generator and "Goto control mode" to the original PID position control of VESC. An experiment was performed using the 8:1 Planetary Gear Actuator module(https://hackaday.io/project/167656-81...) to turn 10 times after then return to 0 position. The results show that it is possible to control the motor position very quickly and accurately.

The rotational speed can be adjusted by setting the acceleration and speed limit values. In this experiment, the highest value was set to show the quickest possible rotation. The limit value for rotational speed was 25000 deg/sec and the limit value for acceleration was 100000 deg/sec^2.

As I know, this kind of control mode already exists at Odrive(https://odriverobotics.com/). I hope to compare the performance between MJ-VESC and Odrive in the next time.

This software is arduino library for communicating VESC using SPI communication.

In Arduino Mega, it is possible to use 8Mhz SPI communication speed and in Arduino Due, it is possible to use 21Mhz.

Use below link.

https://github.com/dongilc/VESCuino_Arduino_Control

place the folder in the arduino libraries folder.

and 

check example at arduino IDE.