Removing low speed openloop FOC parking brake mode from FW

Cool!, OK, I sorted my problems in using Arduino. I did a bit more digging in the firmware. but still no change.

So I modified the following by Tobias Sachs. Thanks all!! It works a charm. Can't wait to test it outside.

Must get some data logging done next (and my speed data isn't right I'm sure. but it works) (Already recording speed from a separate torque sensor.)

/*
  Copyright 2016 Tobias Sachs Tobias.Sachs@onlinehome.de

  This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/

/*
 created by:  Tobias Sachs messed with by ROD READ for kite controller
 Name:      VescUartControlSample.ino  Rodino-readConfig_readMeasurements_1VESC.ino
 Created:   22/09/2016  09/03/2018
 Author:    TS
*/

//rod is trying to get a generator to vary torque with speed. Speed up makes torque go up.
//but dependent on a variable setting.
//also generator has to turn torque off at low end speed.

//You have to configure the VESC to APP "UART" and set the baudrate to 256800 the baud rate is hard coded for now in the VescUartControl.cpp
// Rod didn't he changed VescUartControl.cpp value
//You have to uncommend the line "#define USE_PATCHED_VESC_FW_2_18" in the file VescUartControl.h
// I got rid of the getLimits parts

#include "VescUartControl.h"

VescController Vesc1;

struct bldcMeasure measuredVESC1;

uint16_t counts = 0;

int sensorPin = A0;    // select the input pin for the potentiometer
int sensorValue = 0;  // variable to store the value coming from the sensor
float analogBrakeMultiplier; // mapped float from the pot int

#define DEBUG
unsigned long count;
float turnrate ;
//float current ;
//float voltage;
//int power;
float brakeCurrent;

void setup()
{
  Serial.begin(115200); //begin Serial Console
  delay(600);

  Serial.println("setup begin VESC1");
  Vesc1.begin(&Serial1);
  Vesc1.UartSetCurrent(0.0);
  Vesc1.UartSetCurrentBrake(0.0);
  delay(200);
  Serial.println("setup ready VESC1");

   
  delay(200);
  Serial.println("setup ready");
  delay(400);
}

void loop()
{
   // read the value from the sensor:
  sensorValue = analogRead(sensorPin);
  analogBrakeMultiplier = (sensorValue / 20000.0); //analogBrakeMultiplier will be used to set brake current below here
  if (Vesc1.UartGetValue(measuredVESC1))
  {
    turnrate = (measuredVESC1.rpm / 560000); //20khz x 14 pairs
    //Serial.print("tempPcb_VESC1: "); Serial.println(measuredVESC1.tempPcb);
    //Serial.print("avgMotCur_VESC1: "); Serial.println(measuredVESC1.avgMotorCurrent);
    //Serial.print("avgInpCur_VESC1: "); Serial.println(measuredVESC1.avgInputCurrent);
    //Serial.print("dutyCycleNow_VESC1: "); Serial.println(measuredVESC1.dutyCycleNow);
    Serial.print("erpm_VESC1: "); Serial.print(measuredVESC1.rpm);Serial.print("   ");
    Serial.print(sensorValue);Serial.print("V");
    Serial.print("   rpm = ");Serial.print(turnrate);Serial.print("   ");
    Serial.print(brakeCurrent);Serial.println("A braking");
    //Serial.print("inVolt_VESC1: "); Serial.println(measuredVESC1.inpVoltage);
    //Serial.print("ampHour-_VESC1: "); Serial.println(measuredVESC1.ampHours);
    //Serial.print("ampHour+_VESC1: "); Serial.println(measuredVESC1.ampHoursCharged);
    //Serial.print("tacho_VESC1: "); Serial.println(measuredVESC1.tachometer);
    //Serial.print("tachoAbs_VESC1: "); Serial.println(measuredVESC1.tachometerAbs);
  }
  else
  {
    Serial.println("Failed to get data from VESC1!");
  }
  if (turnrate > 100)
  {
    
brakeCurrent = (analogBrakeMultiplier * turnrate);

//VescUartSetCurrentBrake(brakeCurrent);

      Vesc1.UartSetCurrentBrake(brakeCurrent);
  }
  else
  {
      Vesc1.UartSetCurrentBrake(0.0);
      brakeCurrent = 0.0;
  }

  
  /*

Serial.println("end");
while(1);*/
}

Wee update, it works like a charm. Lovin the VESC6. Some vids of it generating via kite turbine on https://www.youtube.com/user/roddyread/videos