Error on controller.input_vel = 0

1

Following the Hoverboard tutorial, I was able to make my wheels spinning :slight_smile:

However, I am getting errors when setting input_vel to 0 before changing state to IDLE as described in the tutorial.

odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
odrv0.axis0.controller.input_vel = 2
# Your motor should spin here
odrv0.axis0.controller.input_vel = 0
odrv0.axis0.requested_state = AXIS_STATE_IDLE

But I don’t get errors when running commands in this order:

...
# Your motor should spin here
odrv0.axis0.requested_state = AXIS_STATE_IDLE
odrv0.axis0.controller.input_vel = 0

So, I need to switch state first bevor setting velocity to 0.

Those are the errors I get:

In [30]: dump_errors(odrv0)                                                                                                                                       
system: no error
axis0
  axis: no error
  motor: Error(s):
    MOTOR_ERROR_UNKNOWN_TORQUE
    MOTOR_ERROR_UNKNOWN_VOLTAGE_COMMAND
  sensorless_estimator: no error
  encoder: Error(s):
    ENCODER_ERROR_ILLEGAL_HALL_STATE
  controller: no error

In my application, the robot will stop and move very often. I am using Jetson Nano which sends commands (velocity) by UART. Ideally, I could set velocity between 0 and 2 without changing the state.

Note: I can make my wheels spinning from input_vel = 0.3. Below, the state switches to IDLE and throws errors like above.

Is this a bug or did I something wrong ?

2

I just figured out that I only get this error on M0. It works like a charm on M1. But I have two wheels … :smiley:

3

I just compared the config for axis 0 and 1. The only difference I found is

axis0.encoder.config.phase_offset_float = 0.5585030317306519
axis1.encoder.config.phase_offset_float = 0.541111409664154

Should those values be the same?

4

Sampling
Sampling2796×1020 433 KB

Can it be related to a noise issue? The error only appears when velocity is below 0.3 and on M0 only.

5

Yes, noise can be an issue. Do you have the recommended capacitors on the input pins?

6

Today, capacitors and protoboard arrived. But I just realized that I ordered the wrong ones…
I got 0.22uF instead of 22uF. The set includes caps from 0.1 to 10uF. Those ones won’t work right?

7

22uF would be huge. You want 22nF, or 0.022uF

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8

Ok, I bought correct caps but I realized that it’s really difficult to solder. I also tried it with a protoboard but it’s just a mess. So I have to find someone with expert soldering skills or take a different motor controller. I am just a bit frustrated because it is working except this little noise/issue on M0 which makes the ODRIVE useless. I also don’t understand why this board doesn’t come with caps by default.

9

Wellllll it was never designed to use HALL sensors in the first place, basically. They will be present on v4, as we have dedicated HALL inputs.

10

Ah ok… I think it will be a great enhancement for v4. :+1:

By the way, my encoder (AEDR-8300) also has A/B wires. I tried to calibrate ODRIVE following the normal instructions without hall support. However, I didn’t get any signal/feedback. Do you know if this encoder is not supported by ODRIVE or can I make it supportive somehow? :slight_smile:

Finally, I ordered a proper soldering station trying to solder caps again. Hopefully, I will be more lucky this time. :smiley:

11

Alright, after some soldering practice I was dared to solder caps directly to the ODRIVE and it works like a charm. Puh, I hope that was the final challenge.

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12

Yeah that encoder looks like it should work fine with the AB mode (and encoder.config.mode = ENCODER_MODE_INCREMENTAL)

13

When running this command odrv0.axis0.requested_state = AXIS_STATE_ENCODER_OFFSET_CALIBRATION I get the following error:

system: no error
axis0
  axis: no error
  motor: no error
  sensorless_estimator: no error
  encoder: Error(s):
    ENCODER_ERROR_NO_RESPONSE
  controller: no error
axis1
  axis: no error
  motor: no error
  sensorless_estimator: no error
  encoder: no error
  controller: no error
14

Alright, I was able to fix it. I forgot to add some parameters. Nice, now I can run my motor in Hall or Encoder/Incremental Mode. That is amazing. Thanks a lot for supporting :slight_smile:

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