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CrossTheRoadElec / Phoenix-Releases

Release repository for Phoenix-Framework and Phoenix-Tuner
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Phoenix pro motion magic not handling inversion properly #40

Closed mjansen4857 closed 1 year ago

mjansen4857 commented 1 year ago

In simulation at least, I can't speak for a real robot yet. When using motion magic (possibly other position/velocity control modes as well), inversion is not being handled properly.

When inverted (clockwise positive), if I set a positive target position, the motor will be driven in the correct direction (clockwise), but it will target a position in the opposite direction (negative/counter clockwise). Because the motor output and sensor value is being inverted, motion magic will be targeting a negative position while driving in the positive direction, so the target is never reached.

ozrien commented 1 year ago

Phoenix 5 or Phoenix Pro? Note there was Phoenix Pro fix last week (Change log 2023/01/30) that addresses an issue with invert.

mjansen4857 commented 1 year ago

Phoenix pro. We are using the latest update. It seems to work fine on a real robot.

JCaporuscio commented 1 year ago

Closing as complete - this was fixed in 23.0.7 https://api.ctr-electronics.com/changelog#20230210