Drive system VESC

3D-printed OpenTorque Actuators

A powerful, compliant actuator for legged robotics OpenTorque is an open-source implementation of the quasi-direct-drive actuation scheme pioneered by the MIT Biomimetics lab. The basic premise is this: use the largest possible motor with the smallest possible gear reduction. This results in an actuator that is robust, highly backdrivable, and capable of proprioceptive force sensing […]

VESC_packet.cpp fix vesc fw3.3
motors ROS VESC

ROS Driver VESC 3.33 Firmware Fix

In order to be able to use encoders on the HW pins on the VESC (avoid modification of the VESC hall sensor filter) one need to upgrade the Firmware to a later version with the option //#define AS5047_USE_HW_SPI_PINS 1 in the conf_general.h file. by uncommenting that line the VESC will use HW ports to communicate with the encoder. If […]

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 git clone brew tap PX4/homebrew-px4 brew install gcc-arm-none-eabi-49 sudo brew link gcc-arm-none-eabi-49 In the […]

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 […]