ESCs - Revision history

Chklnk: Link livery

2025-10-25T06:53:24Z

Link livery

Chklnk: /* Selecting an ESC */ Link to Suppliers

2025-10-25T06:48:07Z

Selecting an ESC: Link to Suppliers

Chklnk: Expand firmware section, sunset BLHeli32

2024-07-07T03:46:59Z

Expand firmware section, sunset BLHeli32

Chklnk: Restructure Selection/motor features; more on current

2024-01-05T06:21:51Z

Restructure Selection/motor features; more on current

Chklnk: Editing and more considerations

2022-03-25T02:53:50Z

Editing and more considerations

Chklnk: Link to motor article

2021-06-24T07:15:20Z

Link to motor article

User at 03:26, 8 June 2021

2021-06-08T03:26:24Z

MarkR at 19:25, 7 June 2021

2021-06-07T19:25:46Z

User: Added section for BEC + link to BEC page

2021-06-05T02:30:10Z

Added section for BEC + link to BEC page

Satchmo: /* Selecting an ESC */ Clarified 'Channel Mixing' as impacting only dual-channel ESCs

2021-06-05T01:41:33Z

Selecting an ESC: Clarified 'Channel Mixing' as impacting only dual-channel ESCs

@@ Line 1: / Line 1: @@
-'''Electronic Speed Controllers''', or '''ESCs''', are circuits that let you control [[Motors|motor]] speed and direction remotely, using a signal from the radio receiver. One circuit board may have one or more motor controllers, and some small ESCs are integrated with a receiver to minimize size and weight for small bots. They are called "Electronic" speed controllers to distinguish from an obsolete electro-mechanical type which were used in RC models long ago (1980s?).
+'''Electronic Speed Controllers''', or '''ESCs''', are circuits that let you control '''[[Motors|motor]]''' speed and direction remotely, using a signal from the radio receiver. One circuit board may have one or more motor controllers, and some small ESCs are integrated with a receiver to minimize size and weight for small bots. They are called "Electronic" speed controllers to distinguish from an obsolete electro-mechanical type which were used in RC models long ago (1980s?).
 [[File:Scorpion_Mini.jpg|thumb|Scorpion Mini Dual motor ESC by RobotPower]]
@@ Line 8: / Line 8: @@
 =Selecting an ESC=
 [[File:BotBitzESC.png|thumb|Dual motor ESC by BotBitz]]
-'''Note''': Beginners may be quickly overwhelmed at the selection of ESCs available. It is convenient to choose ESCs that are designed for use in combat robotics from the many [[Suppliers]] available. A wide range of other ESCs are available for model hobby purposes, but you must select carefully. When in doubt, ask other builders.
+'''Note''': Beginners may be quickly overwhelmed at the selection of ESCs available. It is convenient to choose ESCs that are designed for use in combat robotics from the many '''[[Suppliers]]''' available. A wide range of other ESCs are available for model hobby purposes, but you must select carefully. When in doubt, ask other builders.
 Considerations in selecting a suitable ESC include:
@@ Line 15: / Line 15: @@
 *'''Brushed ESCs''' only drive brushed DC motors.
 *'''Brushless ESCs''' only drive brushless motors.
-*'''Hybrid controllers''', like some from [https://home.castlecreations.com/ Castle Creations], can be set to either brushed or brushless mode.
+*'''Hybrid controllers''', like some from '''[https://home.castlecreations.com/ Castle Creations]''', can be set to either brushed or brushless mode.
 ==Safety==
@@ Line 40: / Line 40: @@
 ==Sensor capabilities==
-Advanced builders may want to use brushless [[motors]] with shaft sensors and matching ESCs to better control speed, acceleration, or torque, making the bot easier to operate with precision. These units are more costly and require programming or tuning to achieve the desired performance.
+Advanced builders may want to use brushless '''[[motors]]''' with shaft sensors and matching ESCs to better control speed, acceleration, or torque, making the bot easier to operate with precision. These units are more costly and require programming or tuning to achieve the desired performance.
 ==Additional features==
-*[[Battery_eliminator_circuit_(BEC)|Battery Elimination Circuit (BEC)]] - this takes the voltage from the battery down to a lower level that is more typically used in receivers and servos which eliminates the need for a second receiver battery. BECs on speed controllers typically don't provide a lot of current, so if you are using a 5 volt servo in your bot you should consider a stand alone BEC.
+*'''[[Battery_eliminator_circuit_(BEC)|Battery Elimination Circuit (BEC)]]''' - this takes the voltage from the battery down to a lower level that is more typically used in receivers and servos which eliminates the need for a second receiver battery. BECs on speed controllers typically don't provide a lot of current, so if you are using a 5 volt servo in your bot you should consider a stand alone BEC.
-*[[Radios/Mixing|Channel Mixing]] - Lets you operate multiple drive motors with just one control stick, even with the simplest radio transmitters. Applicable only to dual-channel ESCs that can control two motors.
+*'''[[Radios/Mixing|Channel Mixing]]''' - Lets you operate multiple drive motors with just one control stick, even with the simplest radio transmitters. Applicable only to dual-channel ESCs that can control two motors.
 *Reversible - If you are using the ESC to operate any motor that has to spin both ways (drive wheels, for example), the ESC must be "reversible" — that is, capable of bidirectional operation.
 *Battery Monitoring and Protection - Shuts off the motor to save the battery from damage due to excessive discharge. Consider if you want your ESC to cut off power to your motor and leave you vulnerable late in a match -- it may be worth risking battery damage to keep fighting!
@@ Line 54: / Line 54: @@
 We've reached a time in history (and in hobbies) where it seems like every small device is run most cheaply by a tiny computer chip, including ESCs. They operate according to built-in programming, or firmware. Reflashing the firmware changes the program in the ESC's computer, and therefore how the motor is driven and powered.
-This section will be a short introduction only, as the world of ESCs is ever-changing and far larger than just robots. If you're a beginner, buy ESCs from a '''[[Suppliers|supplier]]''' that specializes in robot combat parts and use their community, documentation, and tech support to help make the most of this technology.
+This section will be a short introduction only, as the world of ESCs is ever-changing and far larger than just robots. If you're a beginner, buy ESCs from '''[[Suppliers]]''' that specialize in robot combat parts and use their community, documentation, and tech support to help make the most of this technology.
 ==Firmware==
-'''BLHeli[https://github.com/bitdump/BLHeli]''' is a free and popular replacement firmware package.  '''BLHeli_S''' is a separately developed alternative (fork).
+'''[https://github.com/bitdump/BLHeli BLHeli]''' is a free and popular replacement firmware package.  '''BLHeli_S''' is a separately developed alternative (fork).
-'''AM32[https://am32.ca/][https://github.com/am32-firmware]''' is an increasingly common firmware option. '''[https://oscarliang.com/am32-esc-firmware-an-open-source-alternative-to-blheli32/ This article]''' gives a brief introduction to its rise in popularity.
+'''[https://am32.ca/ AM32] ([https://github.com/am32-firmware Firmware])''' is an increasingly common firmware option. '''[https://oscarliang.com/am32-esc-firmware-an-open-source-alternative-to-blheli32/ This article]''' gives a brief introduction to its rise in popularity.
 '''Warning:''' Note that as of 2024, '''BLHeli32''' is no longer being supported, and ESCs with BLHeli32 can't be flashed with new BLHeli32 settings.  If you own, buy or inherit an ESC with BLHeli32, it will continue to work with the settings previously installed.  It can be repurposed for AM32, but it will require some hacking to overwrite the firmware loader in the ESC. Once that is done, it can accept AM32 or other compatible options.

@@ Line 8: / Line 8: @@
 =Selecting an ESC=
 [[File:BotBitzESC.png|thumb|Dual motor ESC by BotBitz]]
-'''Note''': Beginners may be quickly overwhelmed at the selection of ESCs available. It is convenient to choose ESCs that are specifically sold for use in combat robotics. A wide range of other ESCs are available for model hobby purposes, but you must select carefully. When in doubt, ask other builders.
+'''Note''': Beginners may be quickly overwhelmed at the selection of ESCs available. It is convenient to choose ESCs that are designed for use in combat robotics from the many [[Suppliers]] available. A wide range of other ESCs are available for model hobby purposes, but you must select carefully. When in doubt, ask other builders.
 Considerations in selecting a suitable ESC include:

@@ Line 48: / Line 48: @@
 *Battery Monitoring and Protection - Shuts off the motor to save the battery from damage due to excessive discharge. Consider if you want your ESC to cut off power to your motor and leave you vulnerable late in a match -- it may be worth risking battery damage to keep fighting!
 *Thermal Monitoring and Protection - Shuts off the motor to keep the ESC from being damaged by overheating.
-*Tuning Settings - May help you better control the bot or make the most out of your motors. Potentially useful for brushless ESCs.
+*Tuning Settings - May help you better control the bot or make the most out of your motors. Particularly useful for brushless ESCs.
 *The ability to reflash (reprogram) the ESC; see below.
-=Reflashing ESCs=
+=Firmware and Reflashing ESCs=
-'''Warning: Advanced Topic'''. Beginners can ignore this section.
+We've reached a time in history (and in hobbies) where it seems like every small device is run most cheaply by a tiny computer chip, including ESCs. They operate according to built-in programming, or firmware. Reflashing the firmware changes the program in the ESC's computer, and therefore how the motor is driven and powered.
-We've reached a time in history (and in hobbies) where it seems like every small device is run most cheaply by a tiny computer chip, including ESCs. They operate according to built-in programming, or firmware. Reflashing the firmware changes how the ESC works, and therefore how the motor is driven and powered.
+This section will be a short introduction only, as the world of ESCs is ever-changing and far larger than just robots. If you're a beginner, buy ESCs from a '''[[Suppliers|supplier]]''' that specializes in robot combat parts and use their community, documentation, and tech support to help make the most of this technology.
-'''BLHeli'''[https://github.com/bitdump/BLHeli] is a free and popular replacement firmware package. It's used along with a program on your computer called '''BLHeliSuite''' to reprogram brushless ESCs and adjust exactly how the motor is controlled. One common reason to do this is to take brushless ESCs made for other purposes, and make them fit for robot combat.
+==Firmware==
 *ESCs for '''car and truck''' applications have reversing ability, unless they have the very simplest of radio controls.
-*ESCs made for '''quadcopter/drone''' applications are normally brushless and non-reversible, but can often be modified by reflashing.
+*ESCs made for '''quadcopters and drones''' are normally brushless and originally programmed to spin propellers for lift only.
-*ESCs designed for '''airplane''' flight are often intended to spin a propeller one way only. To save weight, airplane ESCs may also have smaller, lighter heat sinks intended for air cooled operation; these should be avoided or modified.
+*ESCs designed for '''airplane''' flight are also intended to spin a propeller one way only. Note that to save weight, airplane ESCs may also have smaller, lighter heat sinks intended for air cooled operation; these should be avoided or modified.
 *ESCs for '''boat''' duty may not be able to reverse, and some are designed to be water cooled and have no heat sink at all.

@@ Line 1: / Line 1: @@
 '''Electronic Speed Controllers''', or '''ESCs''', are circuits that let you control [[Motors|motor]] speed and direction remotely, using a signal from the radio receiver. One circuit board may have one or more motor controllers, and some small ESCs are integrated with a receiver to minimize size and weight for small bots. They are called "Electronic" speed controllers to distinguish from an obsolete electro-mechanical type which were used in RC models long ago (1980s?).
-[[File:Scorpion_Mini.jpg|thumb|Scorpion Mini ESC by RobotPower]]
+[[File:Scorpion_Mini.jpg|thumb|Scorpion Mini Dual motor ESC by RobotPower]]
 =How ESCs work=
 An ESC plugs into the receiver. It changes the pulses that would have moved a servo, and makes them into a variable motor voltage instead. ESCs have a connection to draw power from the battery, and another to attach to the motor(s).
 There are two completely different types.
 *'''Brushed ESCs''' only drive brushed DC motors.
 *'''Brushless ESCs''' only drive brushless motors.
 *'''Hybrid controllers''', like some from [https://home.castlecreations.com/ Castle Creations], can be set to either brushed or brushless mode.
-'''Note''': Beginners may be quickly overwhelmed at the selection of ESCs available. It is convenient to choose ESCs that are specifically sold for use in combat robotics. A wide range of other ESCs are available for model hobby purposes, but you must select carefully. When in doubt, ask other builders.
+==Safety==
-Considerations in selecting a suitable ESC include:
+==Additional features==
-*'''Output type''' - Suitable for brushed (or brushless) [[Motors]] if used with a brushed (or brushless) motor.
+*[[Battery_eliminator_circuit_(BEC)|Battery Elimination Circuit (BEC)]] - this takes the voltage from the battery down to a lower level that is more typically used in receivers and servos which eliminates the need for a second receiver battery. BECs on speed controllers typically don't provide a lot of current, so if you are using a 5 volt servo in your bot you should consider a stand alone BEC.
-*'''Safety''' - An ESC must stop running the motor if it stops receiving commands; otherwise, this could result in a runaway bot, or a bot that can't stop its weapon or prevent self-damage.
+*[[Radios/Mixing|Channel Mixing]] - Lets you operate multiple drive motors with just one control stick, even with the simplest radio transmitters. Applicable only to dual-channel ESCs that can control two motors.
-*'''Battery Voltage''' - ESCs are rated for a maximum voltage. Exceeding this voltage may lead to immediate failure of the ESC.
+*Reversible - If you are using the ESC to operate any motor that has to spin both ways (drive wheels, for example), the ESC must be "reversible" — that is, capable of bidirectional operation.
-*'''Continuous Current''' - An ESC should be able to provide the anticipated current requirement of the motor it controls for the full length of a match. An ESC that cannot provide the required current for the required time will stop working or burn out from thermal overload. Note that cheap ESCs often advertise high current ratings that they can't output for more than a few seconds.
+*Battery Monitoring and Protection - Shuts off the motor to save the battery from damage due to excessive discharge. Consider if you want your ESC to cut off power to your motor and leave you vulnerable late in a match -- it may be worth risking battery damage to keep fighting!
-*'''Peak Current''' - If a motor is brought to a stop ("stalled"), it can demand a much more current than normal. Motors should be geared or clutched to avoid stalling, but combat damage can increase loading. Estimate the peak current your motor may require and select an ESC that will not be damaged by that current level. Try to be aware of your motors while driving, and shut off the power if a motor is jammed to preserve the ESC and wiring. Again, be wary of current ratings given for inexpensive hobby ESCs.
+*Thermal Monitoring and Protection - Shuts off the motor to keep the ESC from being damaged by overheating.
-*'''Size / Weight''' - Physical size and weight of a component is always a consideration when choosing components for combat robots.. This is especially true in small insect-class robots where every gram counts.
+*Tuning Settings - May help you better control the bot or make the most out of your motors. Potentially useful for brushless ESCs.
-*'''Sensor Capabilities''' - Advanced builders may want to use [[motors]] with shaft sensors and matching ESCs to better control speed, acceleration, or torque, making the bot easier to operate with precision. These units are more costly and usually require programming to achieve the desired performance.
+*The ability to reflash (reprogram) the ESC; see below.
 =Reflashing ESCs=
@@ Line 41: / Line 60: @@
 It may be possible to reflash the firmware on an ESC meant for other uses to make it reversible. Here are some examples of ESCs that could be repurposed for robot combat.
 *ESCs for '''car and truck''' applications have reversing ability, unless they have the very simplest of radio controls.
 *ESCs made for '''quadcopter/drone''' applications are normally brushless and non-reversible, but can often be modified by reflashing.
 *ESCs for '''boat''' duty may not be able to reverse, and some are designed to be water cooled and have no heat sink at all.

@@ Line 9: / Line 9: @@
 *'''Brushed ESCs''' only drive brushed DC motors.
 *'''Brushless ESCs''' only drive brushless motors.
-*'''Hybrid controllers''' there are some ESCs like some from [https://home.castlecreations.com/ Castle Creations] that can be set to either brushed or brushless mode.
+*'''Hybrid controllers''', like some from [https://home.castlecreations.com/ Castle Creations], can be set to either brushed or brushless mode.
 <br>
 =Selecting an ESC=
@@ Line 17: / Line 17: @@
 Considerations in selecting a suitable ESC include:
 *'''Battery Voltage''' - ESCs are rated for a maximum voltage. Exceeding this voltage may lead to immediate failure of the ESC.
-*'''Continuous Current''' - An ESC should be able to provide the anticipated current requirement of the motor it controls for the full length of a match. An ESC that cannot provide the required current for the required time will stop working or burn out from thermal overload. Note that inexpensive 'hobby' ESCs often advertise current ratings that are unrealistically high.
+*'''Continuous Current''' - An ESC should be able to provide the anticipated current requirement of the motor it controls for the full length of a match. An ESC that cannot provide the required current for the required time will stop working or burn out from thermal overload. Note that cheap ESCs often advertise high current ratings that they can't output for more than a few seconds.
-*'''Peak Current''' - If brought to a stop by excessive load (stalled) an electric motor can consume a great deal of electrical current. Motors should be geared to avoid stalling, but combat damage can increase loading. Estimate the peak current your motor may require and select an ESC that will not be damaged by that current level. Again, be wary of current ratings given for inexpnsive hobby ESCs.
+*'''Peak Current''' - If a motor is brought to a stop ("stalled"), it can demand a much more current than normal. Motors should be geared or clutched to avoid stalling, but combat damage can increase loading. Estimate the peak current your motor may require and select an ESC that will not be damaged by that current level. Try to be aware of your motors while driving, and shut off the power if a motor is jammed to preserve the ESC and wiring. Again, be wary of current ratings given for inexpensive hobby ESCs.
 *'''Size / Weight''' - Physical size and weight of a component is always a consideration when choosing components for combat robots.. This is especially true in small insect-class robots where every gram counts.
 *'''Additional Features'''
 **[[Battery_eliminator_circuit_(BEC)|Battery Elimination Circuit (BEC)]] - this takes the voltage from the battery down to a lower level that is more typically used in receivers and servos which eliminates the need for a second receiver battery. BECs on speed controllers typically don't provide a lot of current so if you are driving a servo you should consider a stand alone BEC.
@@ Line 32: / Line 35: @@
 '''Warning: Advanced Topic'''. Beginners can ignore this section.
-We've reached a time in history (and in hobbies) where it seems like every small device is run most cheaply by a tiny computer chip. As a result, ESCs have become very similar and operate according to the same sort of built-in programming, or firmware. Reflashing the firmware changes how the ESC works, and therefore how the motor is driven and powered.
+We've reached a time in history (and in hobbies) where it seems like every small device is run most cheaply by a tiny computer chip, including ESCs. They operate according to built-in programming, or firmware. Reflashing the firmware changes how the ESC works, and therefore how the motor is driven and powered.
 '''BLHeli'''[https://github.com/bitdump/BLHeli] is a free and popular replacement firmware package. It's used along with a program on your computer called '''BLHeliSuite''' to reprogram brushless ESCs and adjust exactly how the motor is controlled. One common reason to do this is to take brushless ESCs made for other purposes, and make them fit for robot combat.

← Older revision		Revision as of 07:15, 24 June 2021
Line 1:		Line 1:
−	'''Electronic Speed Controllers''', or '''ESCs''', are circuits that let you control motor speed and direction remotely, using a signal from the radio receiver. One circuit board may have one or more motor controllers, and some small ESCs are integrated with a receiver to minimize size and weight for small bots. They are called "Electronic" speed controllers to distinguish from an obsolete electro-mechanical type which were used in RC models long ago (1980s?)	+	'''Electronic Speed Controllers''', or '''ESCs''', are circuits that let you control [[Motors\|motor]] speed and direction remotely, using a signal from the radio receiver. One circuit board may have one or more motor controllers, and some small ESCs are integrated with a receiver to minimize size and weight for small bots. They are called "Electronic" speed controllers to distinguish from an obsolete electro-mechanical type which were used in RC models long ago (1980s?).

	[[File:Scorpion_Mini.jpg\|thumb\|Scorpion Mini ESC by RobotPower]]		[[File:Scorpion_Mini.jpg\|thumb\|Scorpion Mini ESC by RobotPower]]

← Older revision		Revision as of 19:25, 7 June 2021
Line 1:		Line 1:
−	'''Electronic Speed Controllers''', or '''ESCs''', are circuits that let you control motor speed and direction remotely, using a signal from the radio receiver. One circuit board may have one or more motor controllers, and some small ESCs are integrated with a receiver to minimize size and weight for small bots.	+	'''Electronic Speed Controllers''', or '''ESCs''', are circuits that let you control motor speed and direction remotely, using a signal from the radio receiver. One circuit board may have one or more motor controllers, and some small ESCs are integrated with a receiver to minimize size and weight for small bots. They are called "Electronic" speed controllers to distinguish from an obsolete electro-mechanical type which were used in RC models long ago (1980s?)

	[[File:Scorpion_Mini.jpg\|thumb\|Scorpion Mini ESC by RobotPower]]		[[File:Scorpion_Mini.jpg\|thumb\|Scorpion Mini ESC by RobotPower]]

@@ Line 20: / Line 20: @@
 *'''Size / Weight''' - Physical size and weight of a component is always a consideration when choosing components for combat robots.. This is especially true in small insect-class robots where every gram counts.
 *'''Additional Features'''
 **Channel Mixing - Lets you operate multiple drive motors with just one control stick, even with the simplest radio transmitters. Applicable only to dual-channel ESCs that can control two motors.
 **Reversible - If you are using the ESC to operate any motor that has to spin both ways (drive wheels, for example), the ESC must be "reversible" — that is, capable of bidirectional operation.

@@ Line 20: / Line 20: @@
 *'''Size / Weight''' - Physical size and weight of a component is always a consideration when choosing components for combat robots.. This is especially true in small insect-class robots where every gram counts.
 *'''Additional Features'''
-**Channel mixing, which lets you operate multiple drive motors with just one control stick, even with the simplest radio transmitters.
+**Channel Mixing - Lets you operate multiple drive motors with just one control stick, even with the simplest radio transmitters. Applicable only to dual-channel ESCs that can control two motors.
-**Reversible: If you are using the ESC to operate any motor that has to spin both ways (drive wheels, for example), the ESC must be "reversible" — that is, capable of bidirectional operation.
+**Reversible - If you are using the ESC to operate any motor that has to spin both ways (drive wheels, for example), the ESC must be "reversible" — that is, capable of bidirectional operation.
-**Battery monitoring and protection, which shuts off the motor to save the battery from destruction due to overuse. Consider if you want your ESC to cut off power to your motor and leave you vulnerable late in a match -- it may be worth risking battery damage to keep fighting!
+**Battery Monitoring and Protection - Shuts off the motor to save the battery from damage due to excessive discharge. Consider if you want your ESC to cut off power to your motor and leave you vulnerable late in a match -- it may be worth risking battery damage to keep fighting!
-**Tuning settings, which may help you better control the bot or make the most out of your motors. Potentially useful for brushless ESCs.
+**Tuning Settings - May help you better control the bot or make the most out of your motors. Potentially useful for brushless ESCs.
 **The ability to reflash (reprogram) the ESC; see below.