We are developing a lower part of a humanoid robot. It has 12 DOF and we use 6 ODrive controllers (one controller for two motors) that are connected via CAN bus. We already tested robot to make squats and lateral movements.
Before we test robot to make walking sequence I need to measure current on each motor (Iq_measured) to calculate torque. For some reason data that I receive from CAN bus using Get_Iq (0x014) command is quite a bit different from multimeter measurements. It provides figures that 10-15 time more than multimeter’s figures.
If someone has previous experience of measuring current via CAN bus can you please share your thoughts why this happens?