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New brake current behavior for 6.05 firmware #7

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New brake current behavior for 6.05 firmware #7

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17 changes: 16 additions & 1 deletion src/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1052,7 +1052,22 @@ static void brake(data *d) {
}

VESC_IF->timeout_reset();
VESC_IF->mc_set_brake_current(d->float_conf.brake_current);

// If brake current is set to 0 don't do anything
if (d->float_conf.brake_current == 0) {
return;
}

// Use brake current over certain ERPM to prevent the board skidding to a stop when deactivated
// at speed?
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Is the question mark in the comment intentional? It doesn't make me feel very confident 🙂

if (d->motor.abs_erpm > 2000) {
VESC_IF->mc_set_brake_current(d->float_conf.brake_current);
return;
}

// Use DC control mode as it has better holding power
// Also improves with 6.05 shorting feature
VESC_IF->mc_set_duty(0);
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I wonder if you'd always want to do this, not just when movement was detected (on line 1046 above) and it didn't time out?

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I wonder if you'd always want to do this, not just when movement was detected (on line 1046 above) and it didn't time out?

that would be a question for the VESC Discord. My guess is that it would waste energy and drain our batteries. That's why this entire logic exists (we used to not have it and brake current was keeping our ESCs warm...)

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No response on the discord, I guess I'll do some testing when I have a chance...

}

static void set_current(data *d, float current) {
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