I have another issue with my robot project, this time with the ODrive that controls the wheels:
Randomly and suddenly, a motor gets very weak. It is still rotating and somehow the robot still manages to balance (but barely). But if I very lightly hold the axis still, the current gets to the limit and I feel almost no torque. This only happens to one motor, and the motor gets smacked around a bit, so that might cause this issue.
After this happend, I tried to run AXIS_STATE_ENCODER_INDEX_SEARCH, but the issue remained.
Then I ran AXIS_STATE_ENCODER_OFFSET_CALIBRATION, and that actually fixed the issue.
This tells me that it is not a physical issue, but that there is something going wrong in the firmware, but what? I’m happy to modifiy it to fix this.
ODrive: 3.5 24V
Motor: Turnigy Aerodrive SK3 - 5055-280kv
Encoder: AMT102 with Index