Can not set the torque_setpoint

[takijo]

Hi, I struggle to run a brushed motor with ODrive.

I add a function to run brushed motor in motor.cpp.

I can run brushed motor if I set torque_setpoint directly(set as “12” in below picture).

But, I cannot do that if I set torque_setpoint through controller.

odrv0.axis0.controller.input_torque=12;

What is the problem?

My ODrive configuration is below.

odrv0.axis0.controller.config.control_mode = CONTROL_MODE_TORQUE_CONTROL;

odrv0.axis0.controller.config.input_mode = INPUT_MODE_PASSTHROUGH;

regard.

[takijo]

Sorry, I had set vel_lim and torque_lim very small.

It works now.

[Wetmelon]

Awesome! Can you submit a pull request to the github?

[takijo]

OK, I submit a pull request after refactoring.

My code is made from this one.

Brushed Motor Control?

Hello! I have an application that requires control of one brushless motor and one brushed motor. I’ve already got an Odrive V3.6 driving the brushless motor, but I see that brushed motors don’t appear to be part of the software. I’m familiar with embedded C/C++ programming and github pull requests. Would anyone be able to generally advise me on what would need to change? Commutation is easy, but I suppose auto-identification may need to change. If someone could point me in the right direction…

[takijo]

@Wetmelon
I finished to refactring and I up my brushed control code.

takijo0116/ODrive

My code supports torque,velocity,and position cotrol in closed loop.
you can use it in the same way as bldc motor.
Please note that this does not support sensorless control.
If you want to use

odrv0.axis0.motor.config.motor_type = MOTOR_TYPE_BRUSHED

odrv0.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE

odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL

and you can set the setpoint you like.

If not work well ,please tune PID gain.