I shelved it in the end and went with Tesla slave boards and SIMP BMS. I just didn't have the knowledge to get anywhere with bug fixing.

Well the MG is off the farm now so that's officially a home project now. Which frees up a slot for the next farm project, a real farm project this time. Made a small start on stripping down the Leyland over the weekend. I'm also planning to move my main workshop into this shed eventually so have sta...

MOT passed and road tax grudgingly paid for. It's on the road! Three years and two months from the first post. Hopefully the tractor is quicker to do!

Yeah still available.

For a 70s Land Rover that's in pretty good condition! Is that just going to be front wheel drive for the initial test? Had any thoughts on hand brake replacement now you are losing the transfer box. You could try and put in an LT230 transfer box from the Defender, would give you 4 wheel drive and so...

Snuck down the lanes last night for a quick test drive at more than farmyard speeds. Super smooth and I'm much more confident with it now.

Did some silliness today in first gear.

MattsAwesomeStuff wrote: ↑Fri Sep 16, 2022 11:47 pm Have you added this to the wiki?

I have now.

Making good progress, the inverter and motor combo are quite easy to get working if you use OEM parts. However you cannot get new connectors, something which I hope to offer a solution for soon. Hopefully your MOT goes smoothly. It be cool to do some sort of meet up around the Bristol/Bath area of ...

Finally have wheels spinning the correct direction, with power and no juddering. Many Thanks to Tom91 and Aot93 for helping to eliminate possible issues. Turns out all three resolver wire pairs in the outlander motor have a correct polarity and an incorrect one. In addition two pairs have very simil...

Looks like it was basic setup. Since I chopped up the resolver wiring to use it with the Prius inverter I had nothing to go on for resolver polarity etc. Add on to that the resistance readings for to two pairs of the resolver signals are within spec of each other there were allot of combinations to ...

So a bit more messing around. I think I can rule out canbus issues, savvycan doesn't suggest any dropped messages, I also ran the VCU canbus straight to the inverter with nothing else and had the same behavior. RSDN pulled low or floating had no effect. So I tried swapping the resolver wires back to...

On further testing and consideration. I think this might just be a case of the motor stalling at low torque request? If I put my foot down quicker it smooths out. So I'm thinking it might be a case of having to improve my code for torque request to smooth it all out. This is the judder in reverse ge...

Looks like I'm not quite there on the setup of this motor. Spins up nice and smooth with wheels off the ground. But when I try to move the vehicle under it's own power it judders. Edit: it actually does have some power. Can take off in 2nd and 3th no problem, actually seems smoother in higher gears....

Additionally. RPM is now reporting as negative.

tom91 wrote: ↑Thu Sep 15, 2022 1:58 pm Can you now also spin in reverse with a negative torque command?

Curiously no. Spins the same way regardless of positive or negative torque commands. I have the gearbox so doesn't affect me. But obviously still not ideal.

LRBen wrote: ↑Thu Sep 15, 2022 12:00 pm Edit: Gone through my setup again and also the FOC tuning video. I think I have the answer, it is probably just the polarity wrong on resolver connectors, since I don't have the OEM connector. Will report back.

Was resolver polarity in the end! Spinning the correct way now.

Interestingly the inverter is reporting negative torque when it should be. Which would suggest there is an error in the physical setup. I've play around with the resolver order before, but anything apart from this current order doesn't spin at all. Edit: Gone through my setup again and also the FOC ...

Ok so a bit more experimenting today with coding and CANBUS. Defined all relevant values on the code to int16_t, just in case teensy 32bit ints were messing things up. Confirmed that I am getting a negative value when I multiple torquerequest by -1. Rotation direction doesn't change if I multiple by...

Are you casting that throttlePosition float to int later? If not that can cause you problems, mixing floats and ints is often problematic. Not sure why I had throttlePosition as a float. Changed to int and it still works, but still in reverse. Keyboard then died on my workshop computer so I'll try ...

aot93 wrote: ↑Sat Sep 10, 2022 4:58 pm A grab of a few frames from the CAN bus could be useful here also

Annoyingly I left my can sniffer at home today. Will take a few grabs next week if I don't figure it out tonight.

Please provide the declaration check if you decalred these as singed intergers, and 16bit or more. I think this is what you are wanting to check? If it's relevant it's running on a teensy 3.6. byte torqueHibyte = 0; byte torqueLoByte = 0; int torqueRequest = 0; int torqueRequest1 = 0; int targetTor...

I wrote my code so I can flip it. Yes the torque commands flip when spinning the other way. Multiply by -1 before you apply the 10000 offset. I've tried a few variations on this with no affect. Such as torqueRequest = torqueRequest *-1;. Then decided to add torqueRequest1 as a different int to do t...

I have the wheels spinning backwards, not sure if this is the default forward direction of the inverter. Spinning clock wise if you are looking at the motor output. I thought initially it was just the resolver wires mixed up. But that didn't work. I'm pretty sure the phase wires are correct as they ...

Could you do the following, measure HV voltage decay (so precharge then close contactors as normal, then open contactors after reaching full votlage) when leaving RSDN floating and with RSDN tied to 12V. As the decay on the inverter without toggling RSDN is a long time, then again the outlander pro...

It's all good now! Have spinning wheels. Thanks for the assistance! I think I see how that throttle map works now as well.

To confirm RSDN, when floating or tied to 8v, inverter works. When tied to 12v, inverter shuts down. As per the wiki.