Anti cogging fails

Support
1

Hi there I am attempting to use the anticogging feature to improve low speed smoothness.

I have followed the instructions here: https://www.andyvickers.net/tag/anti-cogging/
And here: ODrive/anticogging.md at devel · odriverobotics/ODrive · GitHub

I can only increase the pos_gain to about 70 else the vibration becomes to violent.

I start the controller.start_anticogging_calibration() it slowly starts moving but then stops and never finishes. (I left it for many hours) . odrv0.axis0.controller.config.anticogging.calib_anticogging never returns false until I reboot the drive.
The motor is a Turnigy 5055 280 kv and the encouder a cui 102.

Any advice?

Thank you!

2

Did you adjust the vel_integrator_gain also?

The current version of the anticogging calibration kinda sucks, so if it doesn’t work then it doesn’t work :frowning:

3

Have you ever figured it out? Im running into the same issue.

4

No, unfortunately. I had to move on with my project so did not have the time available for more thorough experimentation.

5

You should tune the motor very stiffly first, then try the anticogging. Even then it can get stuck, so you can try adjusting the velocity and position thresholds if you need.