Upgrading a robo mower

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I got this mower from Alibaba last year so that I could have a platform to start with that has most of the stuff. I’ve imported alof of these type of things from China mfg. and the bones are good but the fine details are usually garbage. https://www.alibaba.com/product-detail/500mm-800mm-remote-control-slope-mower_1600640610761.html?spm=a2756.trade-list-buyer.0.0.30d876e9WUp8U7

What i am wanting to do is upgrade the motor control system. The controllers it came with are bespoke BDLC with hall sensor for 24v motors. I was not able to pry any details from them on the specs other than brushless 24V. I did get a generic wiring diagram.

The ones it came with have terrible motor control and mixing. Movements are erratic and rapid and it will not mix turning and moving forward or backwards to save its life. go forward fine try to turn slightly when moving forward and it will stop paus then turn with rapid jerky acceleration.

I’m wanting to make steering it smoother. Open to ideas. I upgraded the radio to a fly sky paladin PL 18 and receiver hoping maybe a better radio with smoother track mix would work and nope still moves jerky pauses between directions and seems to only have 2 speeds on and off.

Thanks for the help in advance.

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here is the wiring diagram I got

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This is almost certainly poor-quality or poorly-configured ESCs, likely using crude PWM or step-based control. They may lack any current smoothing, throttle ramping, or PID control for Hall sensor feedback.

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ya ESC is just a black box type with no configuration. Ive got a dozen 5th scale RC around here if i had a way to deal with hall sensor id put a set of .castle cobra 5 on there

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Hey @James293420,

The demo videos of the robot in action are pretty sweet! I totally agree with @ahsrab292840 that the issues you’re seeing feel like much more of a control problem than a crappy component problem.

What voltage and current is the motor system rated for? I know there are a whole host of E-Bike/E-Scooter controllers designed to facilitate 3-Phase DC in basically the same way as that mower. Perhaps there is more info online regarding remote control scooters that could be applied here?