Mantain speed with different weights

1

Hi!
My team and I bought around 16 ODrives for a project. We are working with hoverboard motors in our robot (1 ODrive per robot) and communicating with Odrive through ASCII protocol. Our robots can carry different weights and we want them to maintain same speed at any weight (from 0kg extra weight to around 60-90kg extra weight). Now we are using velocity control with “v” ascii protocol command and we have also tried setting the velocity with vel_ramp_target and “w” ascii protocol command. The robot is moving fine in both cases when carrying 0kg but when we add weight it slows down. What are we doing wrong or what can we do to fix this?

Thank you in advance for your help and work.
Greetings!

2

The robot is moving fine in both cases when carrying 0kg but when we add weight it slows down

Yeah, mass tends to do that :wink:

But we can dig in a bit and see if there’s a configuration setting you need. What is your motor.config.current_lim?

3

Hi!

We had motor.config.current_lim set to default value 10A. We have increased it to 60A and set motor.config.requested_current_range to 90A; now it is working much better with different weights, so thank you very much for that! Any further recommendations?

Thank you for your help!

4

Hi!

We tried this and it seems to be working nice except some adhesion problems with our hoverboard motors.

Thank you for your help!

1 Like