I am using https://skysedge.com/robotics/robowheel170/RoboWheel170_Datasheet.pdf a white label alibaba motor that has an encoder included. I have successfully gotten through
odrv0.axis0.requested_state = AXIS_STATE_MOTOR_CALIBRATION by following the hover board guide, only needing to change the calibration current
odrv0.axis0.motor.config.calibration_current = 2 and the
odrv0.axis0.motor.config.requested_current_range = 45. In all honesty I don’t know why those numbers worked but using the
odrv0.axis0.motor.config.requested_current_range = 25 resulted in a bunch of errors.
Anyways when I don’t see any errors in
dump_errors, I move on to configuring the encoder using:
odrv0.axis0.encoder.config.mode = ENCODER_MODE_INCREMENTAL odrv0.axis0.encoder.config.cpr = 12800 # 3200 ppr x 4 also tried 3200 odrv0.axis0.encoder.config.bandwidth = 100
but I keep getting
odrv0.axis0.requested_state = AXIS_STATE_ENCODER_OFFSET_CALIBRATION. The motor only moves forward before stopping. Then can see the error in
dump_errors. I have tried multiple permutations of saving config, rebooting, erasing config, rebooting again, etc. The
shadow_count does show 3200 on a full manual revolution of the motor. Can anyone help me sort this out?