3D printed lawnmower assembly
robot lawnmower

Saturday’s Night Fun

Tonight I 3D Printed mounting brackets for the front wheels. I have acquired some cheap and simple testing wheels which will be used before I spend time and effort designing my own with proper bearings. My final wheels will also be more ball-like, so they want stuck as easy in terrain. Before doing the design I also […]

3D printer filament stock

My Filament Stock

There are a lot of different filament out there. The characteristics varies between different types/brands. It can be difficult to find the right filament that suits you and your projects needs. I always like to try different filament to test and see their characteristics. I buy almost my filament exclusively from 3DPrima because of its ease of access. So my line-up contains PrimaValue […]

Drive system final design
Drive system

Drive System Design Completion

So this weekended I have been working on finishing the design of the drive system. I have updated the initial design of the 2-pulley gearing into a 4-pulley gearing. The main reason for the update is to have the ability the to achieve a lower wheel surface speed. The brackets are also designed with adjustable offsets, so […]

VESC FOC Encoder position control

Rotary Position Sensor + VESC

As it turns out you do not really need to make modifications to remove the hall sensor filter in order to get Rotary Position Sensors to work with the VESC. In a previous post I described how I located the hall sensor filter and removed it (read here). Anyways, I was looking around the internet and found […]


Compile Custom Firmware VESC Mac OSX

In order to change the firmware running on the VESC, one need to compile the custom firmware with the modifications needed. I use Mac OS X on my workstation and here is how I do it. First download the latest firmware from https://github.com/vedderb/bldc git clone https://github.com/vedderb/bldc.git brew tap PX4/homebrew-px4 brew install gcc-arm-none-eabi-49 sudo brew link gcc-arm-none-eabi-49 In the […]

AS5048A 1x8 pin header

AS5048A Rotary Position Sensor + VESC

Yesterday I received a bunch of different encoders that I will test one by one In a near future. Lets start by with the ams A5848A. The AS5048A is a 14-bit rotary position sensor (previously known as encoder) for absolute angular measurement and with a PWM (=pulse width modulation) output over a full turn of 360° based on […]

Removing R11-13 VESC
motors VESC

VESC Remove Hall Sensor Filter

Please note that I take no responsibility for damage to you or your hardware.. In order to get an straight connection from the input from a encoder one need to remove the hall sensor filter on the VESC, explained here My VECS´s are slithy different then the original VESC´s created by Benjamin Vedder. The VESC I have […]

Tachometer RPM measure
Drive system motors

Gearing Ratio and Pulley Designs

Before switching over to BLDC motors, I was going to use brushed DC motors with planetary gear. I did a few test runs with the brushed DC motors with a Roboclaw motor controller and was not happy with the noise from the motor/gears (the robot was doing to much noise). One advantage with the planetary gear was […]