Hi guys, I set OD in velocity mode and make it oscillate quickly by flipping between vel=-1000 and vel=+1000, it stays centered. If I increase velocity on one side only, the overall motion becomes a slow rotation as expected. At this point, if I hold the motor in place, there is a build-up of force. If I release it, it quickly goes to a position where it thinks it should be and then continues rotating slowly. Is there a way to remove/cancel-out that build-up/re-positioning effect? (and just produce a constant force with no re-positioning)
Set
odrv0.axis0.controller.config.vel_integrator_gain=0
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Right on, that was the last missing piece for my project to work properly!
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Nice. Glad you got it working.
What is your project?
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