Motor Drivers

Blown Fuse

Firmware

Checking your robots firmware version

Updating

1. Open robot
2. Disconnect main battery
3. Connect laptop to usb-c port on motor driver
4. Hold both boot and reset button, release reset, then release boot
5. Wait for motor driver to show up as removable drive on laptop
6. Copy firmware onto removable drive
7. Motor driver will disconnect and update is complete
8. Repeat steps 3-8 for all motor drivers.

Downloads

Firmware Ver.7 - Download

• Added serial number identification This allows avvy to know when a motor driver is replaced.

Firmware Ver.6 - Download

• Added support for the 30A current sensor.
• Smoother, more predictable throttle response. Throttle now ramps to the commanded value at a fixed rate rather. The motor also now comes to a firm stop at zero throttle instead of slowly drifting toward it.
• Safer power-up. Fixed a rare startup condition where the motor gates could briefly be driven into a hard-brake state for a moment before the controller finished initializing.
• More reliable I2C status reads. Fixed a timing issue where a status read over I2C could occasionally return invalid data, e.g. erroneous current measurements.

Firmware Ver.5

• Fixed a bug that could disrupt I2C communication.
• Added a watchdog on the main control loop.
• Faster response to lost communication.
• Added over-temperature protection on the driver itself.

Firmware Ver.4

• Added temperature sensor support.
• Improved current limiting.
• Improved speed estimate.
• Smoother throttle response.
• Added a startup LED blink pattern