Configuring xESC

If you bought the kit the xESC are preconfigured with VESC firmware 5.x"

the config of the mow motor differs from the config of the drive motors, the configs of the two drive motors are equal

Configurations for each xESC can be found at  https://github.com/ClemensElflein/OpenMower/tree/main/configs/xESC

Configuring the xESC

Prereqs:

• VESC Tool (https://vesc-project.com/vesc_tool)

Connecting to the xESC:

1. sudo systemctl stop openmower
2. socat tcp-listen:65102,reuseaddr,fork file:/dev/ttyAMAx,raw <- replace x with devicenumber
3. start VESC Tool
4. Go to Connection -> TCP and insert openmower IP, leave port at 65102
5. Connect

Loading XML motor configuration:

1. Download XML configuration files from repo
2. File>Load Motor Configuration XML
3. Select file named motor for the xESC you connected to
4. On the right toolbar click “Write Motor configuration” (the M with a arrow pointing down)

Loading XML app configuration:

1. Download XML configuration files from repo
2. File>Load App Configuration XML
3. Select file named app for the xESC you connected to
4. On the right toolbar click “Write App configuration” (the A with a arrow pointing down)

Finally hit Ctrl + C in the openmower terminal and start the openmower service again. sudo systemctl start openmower