I want pwm mode to run continuously

Support
1

i configuration by
odrv0.erase_configuration()

odrv0.config.brake_resistance = 2.0
odrv0.config.dc_bus_undervoltage_trip_level = 8.0
odrv0.config.dc_bus_overvoltage_trip_level = 56.0
odrv0.config.dc_max_positive_current = 20.0
odrv0.config.dc_max_negative_current = -3.0
odrv0.config.max_regen_current = 0
odrv0.save_configuration()

odrv0.axis0.motor.config.pole_pairs = 7
odrv0.axis0.motor.config.calibration_current = 5
odrv0.axis0.motor.config.resistance_calib_max_voltage = 2
odrv0.axis0.motor.config.motor_type = MOTOR_TYPE_HIGH_CURRENT
odrv0.axis0.motor.config.current_lim = 15
odrv0.axis0.motor.config.requested_current_range = 20
odrv0.save_configuration()

odrv0.axis0.encoder.config.mode = ENCODER_MODE_INCREMENTAL
odrv0.axis0.encoder.config.cpr = 16384
odrv0.axis0.encoder.config.bandwidth = 3000
odrv0.axis0.config.calibration_lockin.current = 5
odrv0.axis0.config.calibration_lockin.ramp_time = 0.4
odrv0.axis0.config.calibration_lockin.ramp_distance = 3.1415927410125732
odrv0.axis0.config.calibration_lockin.accel = 20
odrv0.axis0.config.calibration_lockin.vel = 40
odrv0.save_configuration()

odrv0.axis0.controller.config.control_mode = CONTROL_MODE_POSITION_CONTROL
odrv0.axis0.controller.config.vel_limit = 50
odrv0.axis0.controller.config.pos_gain = 30
odrv0.axis0.controller.config.vel_gain = 0.02
odrv0.axis0.controller.config.vel_integrator_gain = 0.2
odrv0.axis0.controller.config.input_mode = INPUT_MODE_TRAP_TRAJ
odrv0.axis0.trap_traj.config.vel_limit = 30
odrv0.axis0.trap_traj.config.accel_limit = 5
odrv0.axis0.trap_traj.config.decel_limit = 5
odrv0.save_configuration()
odrv0.reboot()

odrv0.axis0.requested_state = AXIS_STATE_MOTOR_CALIBRATION
odrv0.axis0.motor.config.pre_calibrated = True
odrv0.axis0.requested_state = AXIS_STATE_ENCODER_OFFSET_CALIBRATION
odrv0.axis0.config.startup_encoder_offset_calibration = True
odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
odrv0.axis0.config.startup_closed_loop_control = True
odrv0.save_configuration()
odrv0.reboot()

and in pwm mode
odrv0.config.gpio4_pwm_mapping.min = -200
odrv0.config.gpio4_pwm_mapping.max = 200
odrv0.config.gpio4_pwm_mapping.endpoint = odrv0.axis0.controller._input_pos_property

i try ask in discord someone advice to change odrv0.config.gpio4_pwm_mapping.endpoint = odrv0.axis0.controller._input_pos_property change to “odrv0.config.gpio4_pwm_mapping.endpoint = odrv0.axis0.controller._input_vel_property”

and him recommended setting "odrv0.axis0.controller.config.control_mode = CONTROL_MODE_VELOCITY_CONTROL

i save and reboot but not work for me

ps.i have connect GND to GND between bluepill and board
please guide me thank a lot

2

Hi,

Could you please elaborate on which part is not working?

Are you running odrv0.save_configuration() after setting up the PWM mapping?

3

i send commant odrv0.save_configuration() done
my odrive version 0.5.1 i can’t update odrivetool dfu

4

Are you able to spin the motor (using CLOSED_LOOP_CONTROL) with usb/odrivetool?
Does the PWM input work before the reboot?

What happens when you try running odrivetool dfu?