Motor spins wrong way during PID tuning

Support
1

Hi All!

I’m tuning my Antigravity 4006 motor using the ODriveGUI, and seeing some incorrect results:

photo_2021-07-16 15.55.28
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Here the motor starts in the right direction, but then jumps off. The GUI reports an unknown torque error.

photo_2021-07-16 15.50.25
photo_2021-07-16 15.50.251280×960 123 KB

The motor works with these settings most of the time, so I’m not sure what’s causing the jump.

Thank you in advance for the help!

2

If the motor accelerates too fast, it can sometimes lose track of the rotor and cause issues. Try increasing either your encoder.config.bandwidth or your motor.config.current_controller_bandwidth or both. max of ~ 4000 on each.