What is the brake command

1

hi all.
i am using a motor like this https://www.ebay.com/itm/6-5-Inch-Motor-Wheel-For-Self-Balancing-Electric-Cycle-Replacement-Wheel-AU/133148493522?_trkparms=ispr%3D1&hash=item1f0044c6d2:g:qPoAAOSwxo9aqG~w&enc=AQAEAAAB8BPxNw%2BVj6nta7CKEs3N0qW2P9dDjHx8jEjIBnnoxt7ZYX9lAzYiNVb9AYtDK%2Bgn%2FcmQ7IsncBZ0aOq1VCLHqlGQH7tBcd87GnIHIpsFY3QQuBTobb04JKGgnAAgjAP1ReGzvUPwSIC5Q3zTcAYz86Ods%2BI5rvQlKDAU4Yl%2BHBsX1OTKTxvN6Chzl%2FJAaC5B0%2Fe04m%2BLYR6h6y%2BBUAAoh40JV4uDCd3BJVG%2FETPSrpySkZ8A3bWvzBlj7dBGepL1slmY61YIzTwftDwvhwAcf0iabTaKAmnooFNqOSw5HwCoHA7r4wvIv0YG4L52LSaDItpZfhxfn0R%2Bc01d%2BZ0gRz2h6XxK%2FXuVitxgTUohObI6TOJD23ryKpBO0a4Y1%2F7oj%2Bkz3KaZXUdKFep3wJNgcppaz%2BTahAVUtnizrY7%2B8%2BP4Hq3OaGHX9F50O66q%2FUduZz9R%2FRM2qm8siqLI2EDTPMA7vIwHDtGRc2V%2BuSUFxnyyGcLbhCBNMoTOX1vS6httL9Iq%2Bn%2Fbo7jPWxOiE2HPSVOQ9WvqfN6on5qC7ul7ilv%2BsezDZr9GOwyvCxnOPyThMIWF56LriF%2FmJF9jWf%2FnKAOqKadN8wdr09ges2Kk%2F0uXr%2BNM1VDGVW301z%2FsEBLn8jybIkyzehbtQF8fT12gnfE%3D&checksum=13314849352268349bd10eb64fd6b034bf99b3901861.

what is the brake command for this kind of motors in Odrive? i couldn’t find in document.

thanks all.

2

i solved it with high pos_gain values. i was set it to 10.

3

ODrive will automatically brake up to your current_limit if it’s in position or velocity control modes. In current control mode, you will have to manually set the braking torque by setting a current with opposite sign

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