Hoverboard motors calibrated fine but now error after turning once

[rhauff]

am running newest 0.5.2 and have 3.6 board (56V) flashed to newest also. Tuning went fine and no errors, wheels seemed to turn the correct amount. I used the hoverboard guide for setup, and my motors are 8" with 30 magnets, and using Hall feedback, powered with about 36V.

No when I run a test turn with

odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
odrv0.axis0.controller.input_vel = 2

the wheel will rotate for a fraction of a second, then I cannot repeat any motion.

dump_errors(odrv0) 
  ODRIVE_ERROR_DC_BUS_OVER_REGEN_CURRENT
axis0
  axis: no error
  motor: Error(s):
    MOTOR_ERROR_SYSTEM_LEVEL
  sensorless_estimator: no error
  encoder: no error
  controller: no error
axis1
  axis: no error
  motor: Error(s):
    MOTOR_ERROR_SYSTEM_LEVEL
  sensorless_estimator: no error
  encoder: no error
  controller: no error

What does this mean? Not sure where to begin troubleshooting.

[rhauff]

@rhauff

ODRIVE_ERROR_DC_BUS_OVER_REGEN_CURRENT

I found this post with identical problem:

Hoverboard Guide missing 'enable_brake_resistor' instructions?

Is it possible someone who knows something, could update the hoverboard guide if needed? From what I can tell, there were recent changes to odrive firmware, making the presence of the brake resistor a required configuration parameter. Are enable_brake_resistor or dc_max_negative_current needed to set up the odrive for hoverboard motors? Is some mention of enable_brake_resistor or dc_max_negative_current in the current version of the hoverboard guide needed? Everything in the guide works unt…

Just had to add this command for Brake resistor:
enable_brake_resistor = True

[Wetmelon]

Set odrv0.config.enable_brake_resistor = True (if you actually have it hooked up). odrv0.config.dc_bus_max_negative_current to a more negative, safe, value if you don’t.

[rhauff]

Thank you, I have left the brake resistor enabled, but enabled some regen current with:

odrv0.config.max_regen_current  = -10
odrv0.config.dc_bus_max_negative_current = -12

as I am not sure yet how much regen current I can dump back into Milwaukee M18 LiPo batteries.

As I understand it, this will dump 10 amps back into batteries, and anything between 10-12A will go into the resistor.

[Wetmelon]

Not quite. It will allow 10A into the batteries, and then up to (Vbus * 0.9) / R Amps into the brake resistor, then an additional 2 amps into the battery, and then a fault.