📄️ Overview
This page is about the firmware flashed on the B-G431B-ESC1 Discover Kit by ST.
📄️ Development
This repository is used to maintain and reflash the ESCs on rovers when necessary. To use it, you will need to first download platformIO extension in VSCode (as seen below):
📄️ Code Overview
The speed controller firmware is divided into two procedures read the PWM input command and call motor.loopFOC(); and motor.move(input); to actuate the motor.
📄️ Wire Connections
There are three (red, black & yellow) wires that connect directly to the motor (known as phase wires). A convenient fact about brushless motors is that if you want to change the direction in which the motor spins, you can simply swap any two of the three wires. The ESC needs to be connected to the motor using the bullet connectors. It is important that the following color-connection between ESC and motor is followed:
📄️ Flashing the ESC
In case of replacements or updates to the firmware, the speed controllers need to be flashed with custom firmware to work. The flashing process can be rather tedious if a step is forgotten, so make sure to follow the steps below in the correct order:
📄️ Known Issues
Due to the inherent complexity of FOC Speed controllers and limited time, there are a number of issues that can crop up during the lifetime of a Rover. The following is a quick breakdown of various known issues followed by a detailed guide to solve some of them.