Negative offset float during encoder calibration

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Hi All,

I tried to connect hoverboard wheels to odrive v3.6 56V.
Ater setting all the parameters according to the hoverboard guide and replacing CTRL_MODE_VELOCITY_CONTROL with CTRL_MODE_CURRENT_CONTROL , also adding 47mF capacitors to M1.(with 22mF capacitors to both motor phases the same issue observed).
While im calibrate the encoder offset on M0 after the comment:

odrv0.axis0.requested_state = AXIS_STATE_ENCODER_OFFSET_CALIBRATION
odrv0.axis0.encoder

I got negative offset float only on M0 with no errors.

error = 0x0000 (int)
offset_float = -0.483556701278687 (float)

After several failed attempts to get positive value
(should be close to 0.5 or 1.5 ) i decided to continue with this parameter to the next step but then only one motor spin and i got error.
Does anyone encoutered this problem and can help me solve it?

Setup:
ODrive v3.6 56V
2*300 Watt 36V dual motors system
4.3AH lithium battery

Thanks,
RG.

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2

Hey, i had the same problem. my solution was to change the first and the last HALL sensor (a and z). i have two motors and the first was no problem but the second one made the smae problems like yours and now it works fine.
by robby

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3

I’ve been able to use negative offset values for the offset_float with hoverboard motors, pretty sure that’s not an issue. from the hoverboard guide:

Meaning values close to -1.5, -0.5, 0.5, or 1.5, etc are all good

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