Yup we also DIYed the position and velocity loop, although I don’t so much mind that because it keeps the ESC protocol simple and allowed me to implement some more interesting dynamic control stuff that I needed
Also, feels wrong to talk about the VESC on here but anyway
I used the ADC_EXT and ADC_EXT2 pins on the standard VESC 6 board, those 2 plus 3.3v and GND are the only connections
To enable sin/cos encoders you need to compile and flash a custom firmware, just a few lines changed in hw_60.h (based on what hw_axiom.h does) as well as changing the min and max amplitude in encoder.c, i think this is because robomaster uses a 1.8 volt signal while the axiom was designed for full 3.3v? Idk i couldnt make it work without essentially disabling the min and max amplitude check. I kinda which the scale and offset could be automatically detected.
In the end i managed to get it working and way more powerful than the C620 lets me :)) 50 amps in that small motor feels wrong but so right