I am trying to position control my motor using PWM.
Somehow I managed to get it running but then I changed the code and since then it won’t work any more.
I have not done any other configurations except those from the PWM interface tutorial.
When I plug the battery in, the calibration sequence starts. The motor does only beep, but does not move. It also doesn’t enter in the closed loop mode.
Connected to ODrive 20763868304E as odrv0
In : odrv0.config.gpio4_pwm_mapping.endpoint = None
In : odrv0.axis0.config.startup_motor_calibration = True
In : odrv0.axis0.config.startup_closed_loop_control = True
In : odrv0.config.gpio4_pwm_mapping.min = -15000
In : odrv0.config.gpio4_pwm_mapping.max = 1500
In : odrv0.config.gpio4_pwm_mapping.endpoint = odrv0.axis0.controller._remote_attributes[‘pos_setpoint’]
In : odrv0.save_configuration()
In : odrv0.reboot()
Downloading json data from ODrive… (this might take a while)
Motor: Robbe ro-power torque 305Kv
Encoder: CUI AMT102 encoder
Odrive 3.6 56V
I hope someone can help me