@towen, @Wetmelon, Sorry for the late response, was busy with other stuff…

`use_index = False`

doesn’t change anything.

Here’s my params

odrv0.axis0.encoder

Out[3]:

error = 0x0000 (int)

is_ready = True (bool)

index_found = False (bool)

shadow_count = 34 (int)

count_in_cpr = 34 (int)

interpolation = 0.5 (float)

phase = 1.1254816055297852 (float)

pos_estimate = 34.234375 (float)

pos_cpr = 34.234375 (float)

hall_state = 5 (int)

vel_estimate = 0.0 (float)

calib_scan_response = 750.0 (float)

config:

mode = 0 (int)

use_index = False (bool)

find_idx_on_lockin_only = False (bool)

pre_calibrated = False (bool)

zero_count_on_find_idx = True (bool)

cpr = 4096 (int)

offset = 370 (int)

offset_float = 0.7300000190734863 (float)

enable_phase_interpolation = True (bool)

bandwidth = 1000.0 (float)

calib_range = 1.0 (float)

calib_scan_distance = 50.26548385620117 (float)

calib_scan_omega = 12.566370964050293 (float)

idx_search_unidirectional = False (bool)

ignore_illegal_hall_state = False (bool)

set_linear_count(count: int)

odrv0.axis0.motor

Out[4]:

error = 0x0000 (int)

armed_state = 3 (int)

is_calibrated = True (bool)

current_meas_phB = -0.21392440795898438 (float)

current_meas_phC = 0.1053016185760498 (float)

DC_calib_phB = -1.5582488775253296 (float)

DC_calib_phC = -1.2733618021011353 (float)

phase_current_rev_gain = 0.02500000037252903 (float)

thermal_current_lim = 23.819385528564453 (float)

get_inverter_temp()

current_control:

p_gain = 0.11520425975322723 (float)

i_gain = 118.32422637939453 (float)

v_current_control_integral_d = -0.0003348196332808584 (float)

v_current_control_integral_q = -0.009427683427929878 (float)

Ibus = -0.00022683361021336168 (float)

final_v_alpha = -0.002130721462890506 (float)

final_v_beta = -0.0009554330608807504 (float)

Iq_setpoint = 0.0015156264416873455 (float)

Iq_measured = -0.08455902338027954 (float)

Id_measured = 0.028356090188026428 (float)

I_measured_report_filter_k = 1.0 (float)

max_allowed_current = 60.75 (float)

overcurrent_trip_level = 67.5 (float)

gate_driver:

drv_fault = 0 (int)

timing_log:

TIMING_LOG_GENERAL = 0 (int)

TIMING_LOG_ADC_CB_I = 2614 (int)

TIMING_LOG_ADC_CB_DC = 12862 (int)

TIMING_LOG_MEAS_R = 6678 (int)

TIMING_LOG_MEAS_L = 6686 (int)

TIMING_LOG_ENC_CALIB = 6998 (int)

TIMING_LOG_IDX_SEARCH = 0 (int)

TIMING_LOG_FOC_VOLTAGE = 6946 (int)

TIMING_LOG_FOC_CURRENT = 7370 (int)

config:

pre_calibrated = False (bool)

pole_pairs = 10 (int)

calibration_current = 10.0 (float)

resistance_calib_max_voltage = 2.0 (float)

phase_inductance = 0.00011520426050992683 (float)

phase_resistance = 0.11832422018051147 (float)

direction = 1 (int)

motor_type = 0 (int)

current_lim = 10.0 (float)

current_lim_tolerance = 1.25 (float)

inverter_temp_limit_lower = 100.0 (float)

inverter_temp_limit_upper = 120.0 (float)

requested_current_range = 60.0 (float)

current_control_bandwidth = 1000.0 (float)

odrv0.axis0.controller

Out[7]:

error = 0x0000 (int)

pos_setpoint = -3.7656259536743164 (float)

vel_setpoint = -0.0 (float)

vel_integrator_current = 0.0015156264416873455 (float)

current_setpoint = 0.0 (float)

vel_ramp_target = 0.0 (float)

vel_ramp_enable = False (bool)

config:

control_mode = 2 (int)

pos_gain = 20.0 (float)

vel_gain = 0.0005000000237487257 (float)

vel_integrator_gain = 0.0010000000474974513 (float)

vel_limit = 20000.0 (float)

vel_limit_tolerance = 1.2000000476837158 (float)

vel_ramp_rate = 10000.0 (float)

setpoints_in_cpr = False (bool)

set_pos_setpoint(pos_setpoint: float, vel_feed_forward: float, current_feed_forward: float)

set_vel_setpoint(vel_setpoint: float, current_feed_forward: float)

set_current_setpoint(current_setpoint: float)

move_to_pos(pos_setpoint: float)

move_incremental(displacement: float, from_goal_point: bool)

start_anticogging_calibration()

configs were erased and then i set

cpr = 4096

pole_pairs = 10

calib_range = 1 ( otherwise it spins in 1 direction and then gives error cpr out of range, same as when use index = True )

it calibrated without errors

but when i try to spin it in closed loop, it makes small move and then only current is growing, but wheel is not spinning at all