I'm having this weird behavior if I change my amp settings. I have a longboard with 2x raptor hub motors and vesc6's. When I run Ackmaniac firmware I set motor amps to 70A, -70A and batt max/min to 40 and -13 for each vesc. This works great and it gives a nice punch. When I try the newest official vesc firmware and do motor detection it sets me at 40-40 motor amps and 99 batt amps. This gives me really bad performance so I thought I'd change around to what I had on ackmaniac but then I have to lower batt amps to not ruin my 12S4P Samsung 30Q so I set it at the same as I had on ackmaniac. Now the board is dangerous to drive and throttle response is sluggish. If I accelerate and go full brakes it keeps accelerating for (what feels like) 1 second after I go full brakes. This caught me off guard the first time and it was really scary as it keep pushing 70A onto the motors when I wanted it to stop. I then lowered it from 70 to 40 again and it was back to normal. Is there some kind of PID regulator that limits the batt amps that's causing issues here?
The board is way to weak at 40A tho so I can't have it like this. Is there another way to get what I want without upping batt amps? I really don't want to push my battery beyond spec even if I know many do it without problems.
There are a few settings I have found that effect the response time of the VESC. These settings can be found in the "input setup" section of VESC tool.
The first setting that adds control delay is the input "median filter", which is enabled by default. This setting filters the PPM signal by discarding data that falls outside of the data surrounding it. For instance, you are accelerating your board and the PWM signal is changing smoothly as you do so. But at some point, you get a bit of radio interference which causes the controller to see a single frame that commands full throttle. The data around that frame shows the throttle at 51% and 52%. The throttle data could be imagined to look like this as you accelerate: ...49% 50% 50% 51% 100% 52% 52% 53%... The median filter will drop the data that commands full throttle because it obviously falls outside of the median (average) value of the data within the buffer. To do this, there needs to be a buffer, which introduces a delay. If you have a solid radio signal and a PPM cable that is shielded and/or well routed, you can disable the median filter without consequence.
The other settings to look at are the throttle and brake ramping times, also found in the input setup. If the throttle ramping time is set too high, the motor will continue to accelerate for some fraction of this set time, even after you have released the throttle trigger. This setting seems like a good place to adjust how aggressively your board will accelerate and brake, but it is not. A much better way to do that is to limit the acceleration and braking wattage setting in profiles. Doing so with this setting will just increase and decrease the responsiveness of the motor to your control input.
I bet you already figured it out on your own, but if not, I hope this information will help you get your setup to work the way you expect it to.