I have encountered a problem, that odrive for some reason for a long time tries to compensate errors in one of the control command (position, velocity, current), which is resulted in small movements of both wheels (even if I sended command only for one wheel, for example odrv0.axis0.controller.pos_setpoint = 90), after seemingly completed move. And this can last for very long time, plus sometimes after reboot it also makes the same movements (trying to complete last command before reboot?).
Current configs:
In [2]: odrv0.axis0.motor.config
Out[2]:
pre_calibrated = True (bool)
pole_pairs = 15 (int)
calibration_current = 5.0 (float)
resistance_calib_max_voltage = 4.0 (float)
phase_inductance = 0.000757997331675142 (float)
phase_resistance = 0.4177376627922058 (float)
direction = 1 (int)
motor_type = 0 (int)
current_lim = 10.0 (float)
current_lim_tolerance = 1.25 (float)
inverter_temp_limit_lower = 100.0 (float)
inverter_temp_limit_upper = 120.0 (float)
requested_current_range = 10.0 (float)
current_control_bandwidth = 95.0 (float)
odrv0.axis0.encoder.config
Out[4]:
mode = 1 (int)
use_index = False (bool)
find_idx_on_lockin_only = False (bool)
pre_calibrated = True (bool)
zero_count_on_find_idx = True (bool)
cpr = 90 (int)
offset = 26 (int)
offset_float = 0.5033906102180481 (float)
enable_phase_interpolation = True (bool)
bandwidth = 100.0 (float)
calib_range = 0.019999999552965164 (float)
calib_scan_distance = 50.26548385620117 (float)
calib_scan_omega = 12.566370964050293 (float)
idx_search_unidirectional = False (bool)
ignore_illegal_hall_state = True (bool)
odrv0.axis0.controller.config
Out[5]:
control_mode = 3 (int)
pos_gain = 1.0 (float)
vel_gain = 0.029999999329447746 (float)
vel_integrator_gain = 0.009999999776482582 (float)
vel_limit = 1000.0 (float)
vel_limit_tolerance = 0.0 (float)
vel_ramp_rate = 400.0 (float)
setpoints_in_cpr = False (bool)
Firmware version is 0.4.12 and board is v3.6-56v