Hi all,
Using ODrive Pro’s, I’m using the analog input to command one motor’s speed and another motor’s torque. They are mechanically tied so that they fight each other (or aid each other). Positive commands (velocity or torque) are in opposite directions from each other – what I would call clockwise for each, but they are facing each other, so they want to spin in different directions. I need them to spin in the same direction, so one of these motors needs to be commanded to negative torque or to negative speed.
I have tried mapping the 0V to 3.3V analog input to the speed range of (-2, 0) rev/s. (That uses the min=-2 and the max=2.) This does indeed allow me to spin that motor in the direction I want.
The problem is that 0V now means -2 rev/s. The minimum of the voltage range: 0V – maps to the minimum of the speed range: -2 rev/s. So when I remove the signal, it causes the motor to spin up, rather than stop. I would really rather invert this relationship such that 0V meant 0 rev/s and 3.3V meant -2 rev/s. Seems much safer.
I’m hoping the forums can offer a way to do this.
I’ve tried axis0.config.motor.direction, changing it from 1 to -1. This just causes it to give a spinout error. (Also, save_configuration seems to fail to preserve this setting, but I don’t care that much).