ODrive Hoverboard motor problem with teensy

1

Hello guys. I have ODrive v3.6 and hoverboard wheels. I have successfully calibrated and everything works perfect with odrivetool shell. But when I connect odrive to teensy via UART motor controlling is not stable. It doesn’t move when I give low velocity, it works only fast with teensy. Does anyone had same problem? Or is there any setVelocity examples that works perfect? Thank you!

2

It sounds like your teensy is sending the wrong commands on the UART.
Can you connect a USB UART to sniff the data?

3 
#include <ODriveArduino.h>
#include <HardwareSerial.h>

// Printing with stream operator helper functions
template<class T> inline Print& operator <<(Print &obj,     T arg) { obj.print(arg);    return obj; }
template<>        inline Print& operator <<(Print &obj, float arg) { obj.print(arg, 4); return obj; } 
HardwareSerial& odrive_serial = Serial7; 
ODriveArduino odrive(odrive_serial);
int requested_state = 0;

requested_state = ODriveArduino::AXIS_STATE_CLOSED_LOOP_CONTROL; 
 odrive.run_state(0, requested_state, false /*don't wait*/); // "0" is the motor axis

odrive_serial << "w axis" << 0 << ".controller.input_vel " << Left_Drive_Speed << '\n'; //Left_Drive_Speed is a float in turns per second - ) is the motor axis

requested_state = ODriveArduino::AXIS_STATE_IDLE; 
 odrive.run_state(0, requested_state, false /*don't wait*/); // "0" is the motor axis

This should have you turning

Andy