Need for robust method for initialization (commutation)

ABC-iRobotics / YoubotDriver

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Need for robust method for initialization (commutation) #1

Closed kutij closed 1 year ago

kutij commented 2 years ago

Sometimes (randomly or if the robot was not moved for a few days) it fails...

kutij commented 1 year ago

After a few modifications (latest: f743e551c0fa633ab40988eec6908c21f4f2d90c), there are rare errors, the motor driver behaves unpredictably. If still occurs, and effective check & recalibrate is necessary.

kutij commented 1 year ago

New test cases (d8f9eb2ef375797852461c0b6a41d579b7b89bf7) shows that using POSITION_MODE on TMCM-1610 w firmware 1.48 causes the random encoder errors, I am not be able to reproduce it in MOTOR_STOP or VELOCITY_MODE