transmitter and receiver code for remote controlling a paragliding winch Based on LILYGO® TTGO ESP32-Paxcounter LoRa32 V2.1 1.6 Version 915MHZ LoRa ESP-32 OLED (http://www.lilygo.cn/prod_view.aspx?TypeId=50060&Id=1271&FId=t3:50060:3)

Note: The 915MHz Version apparently can transmit/receive in 868MHz and 915MHz, the desired frequency is defined in the code (transmitter.ino, monitor.ino & receiver.ino)

see https://www.youtube.com/watch?v=5IkagHkxbxY

receiver uses PPM (Pulse Position Modulation) for driving the winch and (optional) UART to read additional information (line length, battery %, dutycycle) VESC UART communication depends on https://github.com/SolidGeek/VescUart/

• In Arduino IDE open File > Preferences
• in additional boards manager URLS field copy: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
• click OK
• go to Go to Tools > Board > Boards Manager
• In Boards Manager Search for ESP32 and press install button for the “ESP32 by Espressif Systems“
• Go To Tools > Board > ESP32 and select the TTGO LoRa32-OLED Board

• 18650CL
• Button2
• VescUart
• OLED-SSD1306 //I could not get the display work with Robert Zach's Code, so I updated some of the code. more of this later

IO 13 (PWM_PIN_OUT) // connect to PPM Port "Servo" on Vesc

IO 14 (VESC_RX) //connect to COMM Port "TX" on Vesc

IO 2 (VESC_TX) //connect to COMM Port "RX" on Vesc

IO 15 (BUTTON_UP) //together with GND connect with push button for UP Command

IO 12 (BUTTON_DOWN ) //together with GND connect with a push button for STOP/BRAKE Command

Line auto stop can be implemented within VESC with vesc_ppm_auto_stop.patch

For this to work properly, either connect a Potentiometer to ADC2 and GND to manually control the winch. E.g. To wind up the last meters of the line when finishing. Or to manually set a tension when used as a rewind winch. Note that the potentiometer only reduces tension/speed of the motor when it is running one of the pull programs as controlled via the transmitter!

If you do not install a Potentionmeter, connect ADC2 to GND.

Default VESC app config is vesc_app_config.xml Default Motor config is vesc_motor_config_12kw_260_V4.xml or vesc_motor_config_12kw_273.xml PLEASE NOTE: don't just take the standard motor config and upload to your VESC. Take it as an example only. Make sure to run the "Setup Motor FOC" wizard for the VESC tool to properly detect internal resistances and other values.

• A) prepare: 1 - turn the VESC and receiver on 2 - set the transmitter to X (? unclear ?) to be able to pull out / unwind the cable 3 - pull the line out to the desired length (the VESC measures the line length that is being unwound, needed for the autostop to work) 4 - go through your pre-flight preparations and clip in

• B) launch: 1 - switch to defaultPull (7kg pull value) to tighten the line 2 - go to prePull (~13kg pull value) to assist you to launch the glider 3 - go to takeOffPull (~40kg pull value) to gently get into the air with a slight pull towards a safety margin of 15-30m height 4 -

• C) Step Towing: 1 - switch to defaultPull (7kg pull value) before you turn away from winch to fly back to launch site 2 - go to prePull (~13kg pull value) during turn towards next step (towards winch) to avoid line sag 3 - after successful turn, go to fullPull again

• C) Release Go To defaultPull (7kg pull value) before you release The winch will autorewind the line IF AutoStop feature is enabled (modified VESC Firmware is required, see vesc/vesc_ppm_auto_stop.patch)

• D) Neutral You can get to neutral state only if you are in Brake Mode (-7kg), Double Press the ButtonDown to activate it.

Ask Robert:

• instruction for PPM Settings says "static int myMaxPull = 85; // 0 - 127 [kg], must be scaled with VESC ppm settings" how to set or calibrate this ?