the voltage was crap - I replaced one of the batteries and now the power is solid.
The motors still wouldn’t calibrate, i was getting phase inductance out of range error on the motor calibration. As I see in the code the values were commented as arbitrary, I commented that test out in the firmware and now axis0 calibrates fine, the encoder calibrates, and the motor runs fine. Axis1 however, I’m getting this with encoder calibration:
In : odrv0.axis1.encoder Out: error = 0x0010 (int) is_ready = False (bool) index_found = False (bool) shadow_count = 86 (int) count_in_cpr = 86 (int) offset = 0 (int) interpolation = 0.5 (float) phase = 2.6179871559143066 (float) pos_estimate = 86.02304077148438 (float) pos_cpr = 86.02426147460938 (float) hall_state = 1 (int) pll_vel = 0.0 (float) config: mode = 1 (int) use_index = False (bool) pre_calibrated = False (bool) idx_search_speed = 10.0 (float) cpr = 90 (int) offset = 0 (int) offset_float = 0.0 (float) bandwidth = 100.0 (float) calib_range = 0.019999999552965164 (float)
if i plug the motor and encoder into axis0 it calibrates and runs fine…