Vesc PAS (Pedal Assist)

Good question. It is disappointing that some many interesting and useful posts go unanswered. What is wrong with this forum?

Lack of email notification I think.

Here is my code implementing PAS assist using PPM input for this sensor https://nexun.pl/en/products/pas-sensor-isis-hollowtech-version-d2-waterproof-higo-connector-947.html

Upload it from Lisp tab in VESC Dev Tools. ADC APP need to be configured. I used ADC1 for throttle but it can be changed in the code to ADC2.

; Single line PAS sensor waveform
;      ____          ____   
;      |  |          |  |   
;-------  ------------  ----
;         ^-pulse width-^
;
; On reverse direction of pedaling the signal is at high state all the time

; When not pedaling(or very slow) the motor is disabled
; When pedaling is detected the ADC APP is enabled and throttle sets assists current
; I removed a spring from the throttle and put a piece of felt inside so 
; the throttle stays at set position

(gpio-configure 'pin-ppm 'pin-mode-in-pd) ; use PPM input

(define MAGNETS 12)
(define MIN_PULSE 0.3) ;seconds, above this pulse width assist is disabled

(define pulse 0) ; PAS pulse width
(define last_pulse 0)

(define last_pas_pin 0)
(define last_pas_t 0)
(define assist 0)
(define assist_cnt 0)
(define pas_rpm 0)
(define riding_stops2 0) ;debug


(defun set-assist (assist1)
  (progn
    (define assist (if assist1 1 0))
    (if assist1
      (app-adc-detach 1 0) ; engage throttle current, attach ADC1 to enable the motor
      (progn ; else
        (define assist_cnt 0)
        (app-adc-detach 1 2) ; detach ADC1 to disable the motor
      )
    )
  )
)

(set-assist nil) ; disable assist at startup

; main loop
(loopwhile t ;run at 1000Hz (sleep 0.001)
  (progn
    (define pas_pin (gpio-read 'pin-ppm)) ; read PAS pin
    (if (!= pas_pin last_pas_pin)
      (if (= pas_pin 0) ; measure pulse width on falling edge
        (progn
          (define last_pulse pulse)
          (define pulse (secs-since last_pas_t))
          (define last_pas_t (systime))

          ;(define pas_rpm (* 60 (/ (/ 1.0 MAGNETS) pulse)))

          (if (and (= 0 assist) (< pulse MIN_PULSE)) ; detect pedaling when pulse is shorter than MIN_PULSE sec
            (progn
              (define assist_cnt (+ assist_cnt 1))
              (if (>= assist_cnt 2) ; enable assist when at least 2 short pulses detected
                (set-assist t)
              )
            )
          )

          (if (and (= 1 assist) (> pulse (* last_pulse 1.25))) ; detect rapid PAS slowdown
            (progn
              (set-assist nil)
              (define riding_stops2 (+ 1 riding_stops2)) ; debug
            )
          )

          ;(define pulse_change (/ pulse (+ 0.0001 last_pulse))) ; debug
        )
      )
    )
    (define last_pas_pin pas_pin)

    ; detect very-slow/not pedaling
    (if (and (= 1 assist) (> (secs-since last_pas_t) MIN_PULSE))
      (set-assist nil)
    )

    (sleep 0.001)
  )
)

how to configure the adc app, what are the parameters please, thanks for sharing!

Como mudar para adc2 no script?

wonder if would be possible to use adc3 pin on some controllers to make it a torque sensor with lisp