Having trouble tunning motor. There is a whine when at idle.
If I raise the velocity gain then it vibrates violently.
If I raise the velocity gain then it vibrates violently.
What encoder are you using?
The onboard encoder!
Thanks! So, the gain limitations here may just be the maximum stable gain with this motor/encoder combo. That being said, please let me know the motor you’re using, and send a picture of the encoder setup / magnet mounting, and I can recommend some additional parameters you can try tweaking for better control/performance. It would also be helpful if you can show the values of phase_resistance and phase_inductance in the inspector tab.
Also wanted to note that if I put a little bit of pressure on the motor it does smoothen it out
My best guess here is that you’re just hitting the limits of how much you’re able to crank the gains – smaller motors like those usually can’t handle very high gains. You could try increasing current_control_bandwidth and encoder_bandwidth to 2000, and enable wL_ff_enable and/or bEMF_ff_enable, but I don’t think those will be able to get too much extra performance out of the motor, and increasing the bandwidths may increase audible noise.
Note also you may want to upgrade to the devel branch and use harmonic compensation to help increase encoder accuracy.