I’ve decided to build a High Five Robot using ODrive and brushless motor. The idea is to use current feedback in order to detect the force. In other words the idea is to build 1 degree of freedom robotic arm, which will slide the 3d printed hand, and as soon as the arm slaps with obstacle (a human hand) it will go backward. I hope I explained it well. I’ve managed to build the first prototype and it works decently well. (check out my youtube: DIY: High Five Robot (Brusless Motor + ODrive + Arduino)
I use Arduino for my project. And with Arduino first I send a command to set a new position
to start to move. And afterwards I check the current on motor in a loop with
Serial1 << “r axis” << 0 << “.motor.current_control.Iq_measured\n”;
But for me at looks like Arduino does not check the current very fast (or maybe ODrive cannot provide fast current measurements). Does anyone know how the current feedback should be made properly?
Thanks and best regards!