Odrive micro not moving to requested position

1

I have an odrive micro with a SPI encoder, and I have set it to absolute encoder reference frame with an offset to home it.

If I use the GUI to enable and command the micro, it works as expected with requested positions moving the odrive in the absolute reference frame. If I initialize it from CAN, setting the odrive to AXIS_STATE_CLOSED_LOOP_CONTROL, then requesting a position move with Set_Input_Pos message, it will move to what appears to be the boot reference frame.

If I then go to the GUI and request a position move, the odrive will not go to the position requested (even though it correctly reports it’s current position in the absolute frame). I’ve attached a gif of a requested move, with the odrive moving to the wrong position (note that I have confirmed that it isn’t just overshooting the setpoint – where it stops in the gif is actually where it is trying to go)

What next steps can I do to debug this?

Thanks!

odrive_pos_setpoint

odrive_values

2

Looks like I was sending the position message with the ODRIVE_SET_INPUT_VEL ID, but since it was in position mode it interpreted it as a position? Strange that it didn’t set it to velocity mode, but it looks like it was my bad.

3

Great to hear you figured it out! In position control, the velocity messages are used for feedforwards (see here Controller — ODrive Documentation 0.6.11 documentation), hence the small amount of movement.