Velocity Control for Hoverboard Motors

I am using Hoverboard motors but due to its low encoder resolution, I am using an external rotatory encoder with cpr of 2400. I am following the tuning guide mentioned in the Odrive doc. The position control graph seems to be fine but there is a lot of fluctuation in my velocity control graph.

Velocity Control Graph:

Please help me in how to proceed with the tuning.


Hi! Please ensure encoder.config.bandwidth is right. With that cpr, I’d say something in the range of 200-500 would probably be appropriate.

Sorry for late reply. Thank you for your answer. It actually helped. Are there any other parameter that could affect this?