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I am vegan for 3 and half years plus now. 25M. Bangalor. I don’t know how to perceive life anymore. I enjoy being vegan but it’s very lonely tbh. I constantly hear from my family about how bad veganism is. I constantly seem them buy new animals and not take good care of them. When confronted I get yelled at. The worst part is I started avoiding people. This year someone close to me despite knowing very well that I don’t like cake which is not vegan they went ahead and ordered it, expecting me to cut it at least and not consume it. The hollowness in that act infuriated me. I don’t wish to be celebrated but I don’t understand this apathy I have. I don’t want to get married or fall in love because I feel that if I struggle this much why bring and don’t if this is right wording, impose, rules on my child. This is more like a rant tbh.

I'm building a 3D-printed QDD robotic actuator based on the MIT Mini Cheetah-style design.

The reference build uses:

36 stator slots

42 rotor magnets/poles

26 AWG wire

36 turns

My motor uses:

• 36 stator slots
• 42 rotor magnets/poles
• 27 SWG wire
• 21 turns per tooth
• Star (Y) connection

I'm powering it with:

• 3S 2200 mAh 30C LiPo
• SimonK 30A sensorless BLDC ESC
• Servo tester for throttle

The three phase-to-phase resistances are approximately 0.3 Ω each.

The enamelled winding wires are now properly stripped and soldered to the three ESC phase wires.

The problem is that the motor does not continuously rotate from standstill. With the phases connected ABC, the rotor moves and appears to try to rotate, but it repeatedly settles into the magnetic positions and moves back/forth instead of accelerating into continuous rotation.

If I rotate the rotor by hand with power disconnected, I can feel strong magnetic cogging at different positions. There is also some mechanical friction, but I don't feel/hear obvious stator-to-rotor rubbing.

If I swap the phase order to CBA, I get vibration rather than useful rotation.

I'm wondering whether:

1. The 21-turn winding has significantly different startup requirements from the 36-turn reference.
2. The SimonK ESC timing/startup settings are unsuitable for this 42-pole motor.
3. The winding phase sequence/polarity could be incorrect even though the three phase resistances are equal.
4. The air gap/cogging torque is too high for the ESC to start the motor.

What would you check first, and what ESC settings would you recommend for this motor?

Video attached showing the ABC configuration and startup behavior.