Little FOCer v3.1 - Config & Vibration Issue

Help Desk
1

I setup my board but noticed it vibrates (or kinda feels like it is grinding) when compared to the LittleFocer v3.0. Steps I took for the setup:

  • Ran through the setup guide from this link and adjusted my IMU raw to 90 degrees.
  • Changed [Invert Motor Direction] to TRUE
  • Changed Yaw P (Balance → Multi ESC) to 0

Changing the Yaw P to 0 helped reduce vibrations by a lot, but they still exist. Is there anything else that needs to be changed with this IMU?

2

Is this just at low speeds? And have you turned off all tune modifiers.

3

Yep tested with all tune modifiers off. Def notice it at lows speeds but I think it’s still there at higher speeds too. It kind of feels like the grinding the motor does when going up hill in reverse slowly, if that makes sense.

I will upload a vid if it captures the sound.

4

Didn’t realise imgur does not have sound for videos. Anyways from my OneDrive today.

https://1drv.ms/v/s!Asq_TgKBsY6bgtBDdXwroaqoN7BM8A

5

Looks like in v3.1 you may need to increase the Zero Vector Frequency. I was running 20kHz but that was way too low. Currently am on 34 and it is much better. Seems like anything between 25 - 35 is good.

Does Zero Vector Frequency just control the vibrations? Don’t understand the purpose

6

Glad you found something that works

7

I was told that Zero Vector Frequency should not be higher than 30 and that it’s also a good idea to update the sample rate in the IMU to 833 from 800

8

Moved the Zero Vector Frequency to 26 and it crunches way less on hard breaking

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