Hello, I’m fairly new to the Odrive products, I was using the Odrive for hoverboard motors, I have wired everything correctly and was able to get it to work. The problem is that only one motor (M0) was spinning and the other (M1) did not, if I restart, they both spin for a little but eventually one of them stops. I have modified the setpoint ranges on the PWM controller and both motors spin, unless I move one of them, the other stops.
odrv0.config.gpio3_pwm_mapping.min = -200
odrv0.config.gpio3_pwm_mapping.max = 200
odrv0.config.gpio3_pwm_mapping.endpoint = odrv0.axis0.controller._remote_attributes['vel_setpoint']
odrv0.config.gpio4_pwm_mapping.min = -200
odrv0.config.gpio4_pwm_mapping.max = 200
odrv0.config.gpio4_pwm_mapping.endpoint = odrv0.axis1.controller._remote_attributes['vel_setpoint']
odrv0.save_configuration()
odrv0.reboot()
I have changed this into 0 instead of -200 and 100 instead of 200. That’s how I got both of them to spin on bootup.
I’m using only one 36v Battery (I have another one now) and I have read the post on the capacitors but I don’t seem to need them. I also do not know what exactly Auxiliary does, but I would like to.
Thank you for trying to help me, I appreciate it. Here is a picture of the (Messy) Setup.
odrv0.axis0.motor.config.pole_pairs = 15
odrv0.axis0.motor.config.resistance_calib_max_voltage = 5
odrv0.axis0.motor.config.calibration_current = 5
odrv0.axis0.motor.config.requested_current_range = 25 #Requires config save and reboot
odrv0.axis0.motor.config.current_control_bandwidth = 100
odrv0.axis0.motor.config.current_lim = 25
odrv0.axis0.encoder.config.mode = ENCODER_MODE_HALL
odrv0.axis0.encoder.config.cpr = 90
odrv0.axis0.encoder.config.bandwidth = 100
odrv0.axis0.encoder.config.ignore_illegal_hall_state = True
odrv0.axis0.controller.config.pos_gain = 1
odrv0.axis0.controller.config.vel_gain = 0.02
odrv0.axis0.controller.config.vel_integrator_gain = 0.1
odrv0.axis0.controller.config.vel_limit = 1000
odrv0.axis0.controller.config.control_mode = CTRL_MODE_VELOCITY_CONTROL
odrv0.save_configuration()
odrv0.reboot()
odrv0.axis0.requested_state = AXIS_STATE_MOTOR_CALIBRATION
odrv0.axis0.motor.config.pre_calibrated = True
odrv0.axis0.requested_state = AXIS_STATE_ENCODER_OFFSET_CALIBRATION
odrv0.axis0.encoder.config.pre_calibrated = True
odrv0.save_configuration()
odrv0.reboot()
odrv0.axis1.motor.config.pole_pairs = 15
odrv0.axis1.motor.config.resistance_calib_max_voltage = 5
odrv0.axis1.motor.config.calibration_current = 5
odrv0.axis1.motor.config.requested_current_range = 25 #Requires config save and reboot
odrv0.axis1.motor.config.current_control_bandwidth = 100
odrv0.axis1.motor.config.current_lim = 25
odrv0.axis1.encoder.config.mode = ENCODER_MODE_HALL
odrv0.axis1.encoder.config.cpr = 90
odrv0.axis1.encoder.config.bandwidth = 100
odrv0.axis1.encoder.config.ignore_illegal_hall_state = True
odrv0.axis1.controller.config.pos_gain = 1
odrv0.axis1.controller.config.vel_gain = 0.02
odrv0.axis1.controller.config.vel_integrator_gain = 0.1
odrv0.axis1.controller.config.vel_limit = 1000
odrv0.axis1.controller.config.control_mode = CTRL_MODE_VELOCITY_CONTROL
odrv0.save_configuration()
odrv0.reboot()
odrv0.axis1.requested_state = AXIS_STATE_MOTOR_CALIBRATION
odrv0.axis1.motor.config.pre_calibrated = True
odrv0.axis1.requested_state = AXIS_STATE_ENCODER_OFFSET_CALIBRATION
odrv0.axis1.encoder.config.pre_calibrated = True
odrv0.save_configuration()
odrv0.reboot()
odrv0.config.gpio3_pwm_mapping.min = -300
odrv0.config.gpio3_pwm_mapping.max = 300
odrv0.config.gpio3_pwm_mapping.endpoint = odrv0.axis0.controller._remote_attributes[‘vel_setpoint’]
odrv0.config.gpio4_pwm_mapping.min = -300
odrv0.config.gpio4_pwm_mapping.max = 300
odrv0.config.gpio4_pwm_mapping.endpoint = odrv0.axis1.controller._remote_attributes[‘vel_setpoint’]
odrv0.save_configuration()
odrv0.reboot()
odrv0.axis0.config.startup_closed_loop_control = True
odrv0.axis1.config.startup_closed_loop_control = True
odrv0.save_configuration()
odrv0.reboot()
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Also I had had issue with one of motor socket - contact was not good and at high current Odrive stops with error - bad motor resitance. So I just cut motor connectors and use bare wires.
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I’ll check it out soon, thank you so much
Hello, I ran these and now they would not spin at all, what could this mean?
Note: I am using only one 36v battery, I do not know if it makes a difference to make it more.
Hi, Ahmad.
Script should be execute in this way - execute first part from begin to odrv0.reboot().
…
odrv0.axis0.motor.config.pole_pairs = 15
odrv0.axis0.motor.config.resistance_calib_max_voltage = 5
odrv0.axis0.motor.config.calibration_current = 5
odrv0.axis0.motor.config.requested_current_range = 25 #Requires config save and reboot
odrv0.axis0.motor.config.current_control_bandwidth = 100
odrv0.axis0.motor.config.current_lim = 25
odrv0.axis0.encoder.config.mode = ENCODER_MODE_HALL
odrv0.axis0.encoder.config.cpr = 90
odrv0.axis0.encoder.config.bandwidth = 100
odrv0.axis0.encoder.config.ignore_illegal_hall_state = True
odrv0.axis0.controller.config.pos_gain = 1
odrv0.axis0.controller.config.vel_gain = 0.02
odrv0.axis0.controller.config.vel_integrator_gain = 0.1
odrv0.axis0.controller.config.vel_limit = 1000
odrv0.axis0.controller.config.control_mode = CTRL_MODE_VELOCITY_CONTROL
odrv0.save_configuration()
odrv0.reboot()
…
Than wait til connect to odrive restored and execute next part till next odrv0.reboot().
…
odrv0.axis0.requested_state = AXIS_STATE_MOTOR_CALIBRATION
…
Wait till odrve beeeep.
…
odrv0.axis0.motor.config.pre_calibrated = True
…
Check wheels not blocked and no load applied. Than :
…
odrv0.axis0.requested_state = AXIS_STATE_ENCODER_OFFSET_CALIBRATION
…
Wheel should slowly rotate forward and backward.
…
odrv0.axis0.encoder.config.pre_calibrated = True
odrv0.save_configuration()
odrv0.reboot()
…
Repeat 4 times in same way.
If wheel not calibrated or not rotate in calibration phase please post output of dump_error(odrv0)
