The issue I’m currently facing is that while I can get ODrive to run and talk to my RPI over USB – once I turn the motors on (closed loop control), I cannot maintain a USB connection. I’ve replicated this one 3 different ODrives. The first did work for a while though, but I was powering the PI from the onboard power of the ODrive to avoid a ground loop.
Now I use a USB isolator, with ferrite rings on all the motor/psu cables. Cables are routed far from USB (but PSU connection points are still next to onboard USB). I can connect to ODrive before I change state to closed loop control, and usually after an index search by replugging USB.
Replugging USB doesn’t seem to work after closed loop control though – even if motor drivers are off due to a fault (presumably overspeed or similar – not that I can check). A reboot of the ODrive fixes this issue.
How should I go about calibrating PID if I cannot talk to ODrive at all when motors are under power? Is there any reason the USB line has too much noise, even with a USB isolator?