I am building a 2d delta arm where I use an ODrive to control two 660W BLDC motors. I am only controlling the motors within a range of approximately one revolution, which I guess is quite unique. The faster I can control the motors the better the system performs, so I am trying to maximize acceleration and deacceleration as much as possible without compromising too much on accuracy.
But when I made the jump from fw-v0.4 to fw-v0.5 the accuracy of the system diminished considerably. I think main reason for this is that acceleration and deacceleration is much slower. I do not know if this is due to some changes in how the control loop works on the new firmware or if I just have not configrued my ODrive properly.
How can I increase acceleration and deacceleration on the controller to it’s absolute maximum?
For the record I was not using any brake resistors when I was running fw-v0.4 and now I have been trying 0.5 Ohm resistors with the fw-v0.5 without any success. I’ve been running position control without any trajectory planning.