Hello everyone, I am trying to control a motor connected to a flipsky dual FSESC4.20 using an esp32. To do this i am using solidgeeks UART library (https://github.com/SolidGeek/VescUART) however I am running in to some issues. I have tried the 4 different commands that can activate the motor (setcurrent, setduty, setRPM and setNunchuckValues) but have not gotten any good results using them. The motor either just heats up or spins at a slow speed that does not vary based on how much current/large a duty cycle is set. I do not think this issue is due to the motor itself because it spins up fine when running the flux linkage identifier in the vesc tool. This leads me to the following questions:
What is the advantage/disadvantage of choosing one of the 4 commands?
Do you guys have any idea why the motor is not spinning faster?
Is there any place with some more info on how current and duty cycle effect the wheel speed?
If anyone has good advice I would be very grateful.
EDIT: It seems the issue only occurs when I use the ABI encoder(AEDM-5810-Z12) instead of the sensorless setting. The position estimation from the encoder seems fine for low speeds and only starts to slip around 1000 ERPM which I believe is expected. Does anyone know what the issue might be?