Current control / torque control arduino

Support
1

I have my odrive interfaced to the Arduino via uart communication. Position and velocity control work well. However when I try to do current control using odrive.SetCurrent(0, 10.0f) the motor moves a little and then it seeems like it hit a safety switch and stops powering the motor. I have to restart ODrive to continue using it.

I have used the following commands to remove any current or velocity limits but it doesn’t seem to have helped.

odrive_serial << “w axis” << 0 << “.controller.enable_current_mode_current_limit = False” << ‘\n’;
odrive_serial << “w axis” << 0 << “.controller.enable_current_mode_vel_limit = False” << ‘\n’;

Any advice is appreciated!

2

You will have to check the error codes to see what’s happening. axis.error, controller.error, motor.error, encoder.error, etc.

3

What is the protocol for checking errors when running on Arduino?

4

You’ll want to use the r command. For example:

        for (int motor = 0; motor < 2; ++motor) {
          odrive_serial << "r axis" << motor << ".encoder.error\n";
          Serial << odrive.readFloat() << '\t';
        }