Hello,
I’m trying to use an ODrive to interface with some Sky’s Edge Robowheels.
However, my team and I are running into some problems with the motor at runtime.
The Problem
Here’s what’s happening.
- Lets assume the wheels are full-stop.
- I set the wheel speed to 1
- The wheels spin up to
- I set the wheel speed to 0.5
- The wheel fully stops (within 1 or so miliseconds), then speeds up to 0.5 from the sull-stop position
Anybody know what could be causing this problem, and what could be a fix?
Here’s the config file from the ODrive as well:
Summary
{
"axis0": {
"acim_estimator": {
"config": {
"slip_velocity": 14.706000328063965
}
},
"config": {
"dir_gpio_pin": 2,
"enable_sensorless_mode": false,
"enable_step_dir": false,
"enable_watchdog": false,
"startup_closed_loop_control": false,
"startup_encoder_index_search": false,
"startup_encoder_offset_calibration": false,
"startup_homing": false,
"startup_motor_calibration": false,
"step_dir_always_on": false,
"step_gpio_pin": 1,
"watchdog_timeout": 0.0,
"calibration_lockin": {
"accel": 20.0,
"current": 10.0,
"ramp_distance": 3.1415927410125732,
"ramp_time": 0.4000000059604645,
"vel": 40.0
},
"can": {
"encoder_rate_ms": 10,
"heartbeat_rate_ms": 100,
"is_extended": false,
"node_id": 0
},
"general_lockin": {
"accel": 20.0,
"current": 10.0,
"finish_distance": 100.0,
"finish_on_distance": false,
"finish_on_enc_idx": false,
"finish_on_vel": false,
"ramp_distance": 3.1415927410125732,
"ramp_time": 0.4000000059604645,
"vel": 40.0
},
"sensorless_ramp": {
"accel": 200.0,
"current": 10.0,
"finish_distance": 100.0,
"finish_on_distance": false,
"finish_on_enc_idx": false,
"finish_on_vel": true,
"ramp_distance": 3.1415927410125732,
"ramp_time": 0.4000000059604645,
"vel": 400.0
}
},
"controller": {
"config": {
"axis_to_mirror": 255,
"circular_setpoint_range": 1.0,
"circular_setpoints": false,
"control_mode": 2,
"electrical_power_bandwidth": 20.0,
"enable_gain_scheduling": false,
"enable_overspeed_error": true,
"enable_torque_mode_vel_limit": true,
"enable_vel_limit": true,
"gain_scheduling_width": 10.0,
"homing_speed": 0.25,
"inertia": 0.0,
"input_filter_bandwidth": 2.0,
"input_mode": 2,
"load_encoder_axis": 0,
"mechanical_power_bandwidth": 20.0,
"mirror_ratio": 1.0,
"pos_gain": 20.0,
"spinout_electrical_power_threshold": 10.0,
"spinout_mechanical_power_threshold": -10.0,
"steps_per_circular_range": 1024,
"torque_mirror_ratio": 0.0,
"torque_ramp_rate": 0.009999999776482582,
"vel_gain": 0.1666666716337204,
"vel_integrator_gain": 0.3333333432674408,
"vel_integrator_limit": Infinity,
"vel_limit": 20.0,
"vel_limit_tolerance": 1.2000000476837158,
"vel_ramp_rate": 0.5,
"anticogging": {
"anticogging_enabled": true,
"calib_anticogging": false,
"calib_pos_threshold": 1.0,
"calib_vel_threshold": 1.0,
"cogging_ratio": 1.0,
"index": 0,
"pre_calibrated": false
}
}
},
"encoder": {
"config": {
"abs_spi_cs_gpio_pin": 1,
"bandwidth": 1000.0,
"calib_range": 0.019999999552965164,
"calib_scan_distance": 94.19999694824219,
"calib_scan_omega": 12.566370964050293,
"cpr": 3200,
"direction": -1,
"enable_phase_interpolation": true,
"find_idx_on_lockin_only": false,
"hall_polarity_calibrated": false,
"hall_polarity": 0,
"ignore_illegal_hall_state": false,
"index_offset": 0.0,
"mode": 0,
"phase_offset_float": -0.4884558916091919,
"phase_offset": -1650,
"pre_calibrated": false,
"sincos_gpio_pin_cos": 4,
"sincos_gpio_pin_sin": 3,
"use_index_offset": true,
"use_index": false
}
},
"max_endstop": {
"config": {
"debounce_ms": 50,
"enabled": false,
"gpio_num": 0,
"is_active_high": false,
"offset": 0.0
}
},
"mechanical_brake": {
"config": {
"gpio_num": 0,
"is_active_low": true
}
},
"min_endstop": {
"config": {
"debounce_ms": 50,
"enabled": false,
"gpio_num": 0,
"is_active_high": false,
"offset": 0.0
}
},
"motor": {
"config": {
"I_bus_hard_max": Infinity,
"I_bus_hard_min": -Infinity,
"I_leak_max": 0.10000000149011612,
"R_wL_FF_enable": false,
"acim_autoflux_attack_gain": 10.0,
"acim_autoflux_decay_gain": 1.0,
"acim_autoflux_enable": false,
"acim_autoflux_min_Id": 10.0,
"acim_gain_min_flux": 10.0,
"bEMF_FF_enable": false,
"calibration_current": 4.0,
"current_control_bandwidth": 1000.0,
"current_lim_margin": 8.0,
"current_lim": 10.0,
"dc_calib_tau": 0.20000000298023224,
"inverter_temp_limit_lower": 100.0,
"inverter_temp_limit_upper": 120.0,
"motor_type": 0,
"phase_inductance": 0.0018608097452670336,
"phase_resistance": 0.9289747476577759,
"pole_pairs": 15,
"pre_calibrated": true,
"requested_current_range": 10.0,
"resistance_calib_max_voltage": 10.0,
"torque_constant": 0.03999999910593033,
"torque_lim": Infinity
},
"fet_thermistor": {
"config": {
"enabled": true,
"temp_limit_lower": 100.0,
"temp_limit_upper": 120.0
}
},
"motor_thermistor": {
"config": {
"enabled": false,
"gpio_pin": 4,
"poly_coefficient_0": 0.0,
"poly_coefficient_1": 0.0,
"poly_coefficient_2": 0.0,
"poly_coefficient_3": 0.0,
"temp_limit_lower": 100.0,
"temp_limit_upper": 120.0
}
}
},
"sensorless_estimator": {
"config": {
"observer_gain": 1000.0,
"pll_bandwidth": 1000.0,
"pm_flux_linkage": 0.0015800000401213765
}
},
"trap_traj": {
"config": {
"accel_limit": 0.5,
"decel_limit": 0.5,
"vel_limit": 2.0
}
}
},
"axis1": {
"acim_estimator": {
"config": {
"slip_velocity": 14.706000328063965
}
},
"config": {
"dir_gpio_pin": 8,
"enable_sensorless_mode": false,
"enable_step_dir": false,
"enable_watchdog": false,
"startup_closed_loop_control": false,
"startup_encoder_index_search": false,
"startup_encoder_offset_calibration": false,
"startup_homing": false,
"startup_motor_calibration": false,
"step_dir_always_on": false,
"step_gpio_pin": 7,
"watchdog_timeout": 0.0,
"calibration_lockin": {
"accel": 20.0,
"current": 10.0,
"ramp_distance": 3.1415927410125732,
"ramp_time": 0.4000000059604645,
"vel": 40.0
},
"can": {
"encoder_rate_ms": 10,
"heartbeat_rate_ms": 100,
"is_extended": false,
"node_id": 1
},
"general_lockin": {
"accel": 20.0,
"current": 10.0,
"finish_distance": 100.0,
"finish_on_distance": false,
"finish_on_enc_idx": false,
"finish_on_vel": false,
"ramp_distance": 3.1415927410125732,
"ramp_time": 0.4000000059604645,
"vel": 40.0
},
"sensorless_ramp": {
"accel": 200.0,
"current": 10.0,
"finish_distance": 100.0,
"finish_on_distance": false,
"finish_on_enc_idx": false,
"finish_on_vel": true,
"ramp_distance": 3.1415927410125732,
"ramp_time": 0.4000000059604645,
"vel": 400.0
}
},
"controller": {
"config": {
"axis_to_mirror": 255,
"circular_setpoint_range": 1.0,
"circular_setpoints": false,
"control_mode": 2,
"electrical_power_bandwidth": 20.0,
"enable_gain_scheduling": false,
"enable_overspeed_error": true,
"enable_torque_mode_vel_limit": true,
"enable_vel_limit": true,
"gain_scheduling_width": 10.0,
"homing_speed": 0.25,
"inertia": 0.0,
"input_filter_bandwidth": 2.0,
"input_mode": 2,
"load_encoder_axis": 1,
"mechanical_power_bandwidth": 20.0,
"mirror_ratio": 1.0,
"pos_gain": 20.0,
"spinout_electrical_power_threshold": 10.0,
"spinout_mechanical_power_threshold": -10.0,
"steps_per_circular_range": 1024,
"torque_mirror_ratio": 0.0,
"torque_ramp_rate": 0.009999999776482582,
"vel_gain": 0.1666666716337204,
"vel_integrator_gain": 0.3333333432674408,
"vel_integrator_limit": Infinity,
"vel_limit": 20.0,
"vel_limit_tolerance": 1.2000000476837158,
"vel_ramp_rate": 0.5,
"anticogging": {
"anticogging_enabled": true,
"calib_anticogging": false,
"calib_pos_threshold": 1.0,
"calib_vel_threshold": 1.0,
"cogging_ratio": 1.0,
"index": 0,
"pre_calibrated": false
}
}
},
"encoder": {
"config": {
"abs_spi_cs_gpio_pin": 1,
"bandwidth": 1000.0,
"calib_range": 0.019999999552965164,
"calib_scan_distance": 94.19999694824219,
"calib_scan_omega": 12.566370964050293,
"cpr": 3200,
"direction": 1,
"enable_phase_interpolation": true,
"find_idx_on_lockin_only": false,
"hall_polarity_calibrated": false,
"hall_polarity": 0,
"ignore_illegal_hall_state": false,
"index_offset": 0.0,
"mode": 0,
"phase_offset_float": 1.3537969589233398,
"phase_offset": 1476,
"pre_calibrated": false,
"sincos_gpio_pin_cos": 4,
"sincos_gpio_pin_sin": 3,
"use_index_offset": true,
"use_index": false
}
},
"max_endstop": {
"config": {
"debounce_ms": 50,
"enabled": false,
"gpio_num": 0,
"is_active_high": false,
"offset": 0.0
}
},
"mechanical_brake": {
"config": {
"gpio_num": 0,
"is_active_low": true
}
},
"min_endstop": {
"config": {
"debounce_ms": 50,
"enabled": false,
"gpio_num": 0,
"is_active_high": false,
"offset": 0.0
}
},
"motor": {
"config": {
"I_bus_hard_max": Infinity,
"I_bus_hard_min": -Infinity,
"I_leak_max": 0.10000000149011612,
"R_wL_FF_enable": false,
"acim_autoflux_attack_gain": 10.0,
"acim_autoflux_decay_gain": 1.0,
"acim_autoflux_enable": false,
"acim_autoflux_min_Id": 10.0,
"acim_gain_min_flux": 10.0,
"bEMF_FF_enable": false,
"calibration_current": 4.0,
"current_control_bandwidth": 1000.0,
"current_lim_margin": 8.0,
"current_lim": 10.0,
"dc_calib_tau": 0.20000000298023224,
"inverter_temp_limit_lower": 100.0,
"inverter_temp_limit_upper": 120.0,
"motor_type": 0,
"phase_inductance": 0.0019364545587450266,
"phase_resistance": 0.8772994875907898,
"pole_pairs": 15,
"pre_calibrated": true,
"requested_current_range": 10.0,
"resistance_calib_max_voltage": 10.0,
"torque_constant": 0.03999999910593033,
"torque_lim": Infinity
},
"fet_thermistor": {
"config": {
"enabled": true,
"temp_limit_lower": 100.0,
"temp_limit_upper": 120.0
}
},
"motor_thermistor": {
"config": {
"enabled": false,
"gpio_pin": 4,
"poly_coefficient_0": 0.0,
"poly_coefficient_1": 0.0,
"poly_coefficient_2": 0.0,
"poly_coefficient_3": 0.0,
"temp_limit_lower": 100.0,
"temp_limit_upper": 120.0
}
}
},
"sensorless_estimator": {
"config": {
"observer_gain": 1000.0,
"pll_bandwidth": 1000.0,
"pm_flux_linkage": 0.0015800000401213765
}
},
"trap_traj": {
"config": {
"accel_limit": 0.5,
"decel_limit": 0.5,
"vel_limit": 2.0
}
}
},
"can": {
"config": {
"baud_rate": 250000,
"protocol": 1
}
},
"config": {
"brake_resistance": 2.0,
"dc_bus_overvoltage_ramp_end": 59.92000198364258,
"dc_bus_overvoltage_ramp_start": 59.92000198364258,
"dc_bus_overvoltage_trip_level": 59.92000198364258,
"dc_bus_undervoltage_trip_level": 8.0,
"dc_max_negative_current": -10.0,
"dc_max_positive_current": Infinity,
"enable_brake_resistor": false,
"enable_can_a": true,
"enable_dc_bus_overvoltage_ramp": false,
"enable_i2c_a": false,
"enable_uart_a": true,
"enable_uart_b": false,
"enable_uart_c": false,
"error_gpio_pin": 0,
"gpio10_mode": 11,
"gpio11_mode": 2,
"gpio12_mode": 12,
"gpio13_mode": 12,
"gpio14_mode": 2,
"gpio15_mode": 7,
"gpio16_mode": 7,
"gpio1_mode": 4,
"gpio2_mode": 4,
"gpio3_mode": 3,
"gpio4_mode": 3,
"gpio5_mode": 3,
"gpio6_mode": 0,
"gpio7_mode": 0,
"gpio8_mode": 0,
"gpio9_mode": 11,
"max_regen_current": 0.0,
"uart0_protocol": 3,
"uart1_protocol": 3,
"uart2_protocol": 3,
"uart_a_baudrate": 115200,
"uart_b_baudrate": 115200,
"uart_c_baudrate": 115200,
"usb_cdc_protocol": 3,
"gpio1_pwm_mapping": {
"endpoint": null,
"max": 0.0,
"min": 0.0
},
"gpio2_pwm_mapping": {
"endpoint": null,
"max": 0.0,
"min": 0.0
},
"gpio3_analog_mapping": {
"endpoint": null,
"max": 0.0,
"min": 0.0
},
"gpio3_pwm_mapping": {
"endpoint": null,
"max": 0.0,
"min": 0.0
},
"gpio4_analog_mapping": {
"endpoint": null,
"max": 0.0,
"min": 0.0
},
"gpio4_pwm_mapping": {
"endpoint": null,
"max": 0.0,
"min": 0.0
}
}
}
Additional Details
- Motor we are using: Sky’s Edge Robowheels.
- We’re using the encoders instead of the hall effect sensor, which had previously given us massive issues that we were never able to resolve.
Thank you!
