Moving to a position set point using UART

Support
1

I am trying to move to a set point.
I can set the set point and velocity using the stream method.
However the motor does not stop at the set point.

If I change to POSITION_CONTROL the motor stops and stay at this position.

Any suggestions?

2

Sorry, can you elaborate on the issue? What control mode and input mode are you using? If you’re commanding a nonzero velocity feedforward, the ODrive will attempt to continue past the setpoint.

3

I start with the control mode VELOCITY_CONTROL and input mode VEL_RAMP.
If I set a velocity and a set point the axis continues.
If I change the control mode to POSITION_CONTROL it freezes at the current position.
Current state is CLOSED_LOOP_CONTROL
The input vel is 3.
Please explain the velocity feed forward?

4

Velocity feedforward is for streaming precomputed trajectories, see here: Controller — ODrive Documentation 0.6.11 documentation

If you’re just trying to move between positions, the best option is to use trajectory control mode. But maybe I’m misunderstanding what you’re trying to do?