I’ve been using the Lockin_Spin feature from the dev branch and hover board motors to get the hardest possible stops. In my application the user spins the motor and it provides variable torque usually resisting (braking) and sometimes stopping very fast.
This works at lower speeds, but beyond a certain speed the board errors (Error_Current_Unstable) and basically provides no force.
I’ve tried to debug a couple of things myself.
- When the motor is spinning quickly there will be a lot of current to resist the spin of the motor, and if that isn’t dissipated through the resistor it might overvolt something. I don’t think that’s issue because I have the included resistors wired in and resistance set to .7ohm which is what I measured.
- I have a 24V board with a 24V power supply, maybe the excess power is overvolting the board. I decreased the power supply to 20v (no effect).
- I’m asking it to stop too fast, which requires too much current, and so in the general_lockin settings I’ve tried changing the ramp time up to 2s (no effect).
- I’ve capped the current too low to stop the motor that fast. Increased the lockin current to 20v (no effect)
I’m thinking now it may be that my power supply may not be able to deliver the requested current needed to stop the motor, or that the fast spin of the motor is momentarily causing the Odrive to ask for an absurd amount of power. Either way I’m starting to dig into the firmware both to understand the error and how to fix it. If you guys have any insight I’d love to hear from you.