Wrong speed control when left wheel goes forward

[ombra80]

Variant

PWM

Control type

FOC

Control mode

Speed

What is the bug and how to reproduce it ?

The left wheel is ok, and the right wheel too (when it spins backwards). when the left wheel spins forward, as soon as it feels a little load, it spins in the crazy opposite direction. it seems that the algorithm that controls the forward/left speed works in reverse. How can i fix it? ...congratulations, really a great job!

[Candas1]

Hi,

have you checked the wiki ?

[ombra80]

Yes, I checked it. In part, I've solved it with full chip erase. However, when the weehls spin forward, they work perfectly. When they spin backwards, they have very small torque. Any suggestions to fix it? Thank you in advance!

Best Fabio

[Candas1]

Can the wiring of the phases/halls. What type of wheels are you using?

[ombra80]

The wheels are 10 inches, I've tried all combinations of the hall sensors, but the correct one is the first one. if I reverse the direction( #INVERT_R_DIRECTION

INVERT_L_DIRECTION)

the problem moves in the forward direction) I doubt it's a hardware problem.

in serial debugging, when I command maximum speed backwards with wheels in the air I see:

in1: -1000 cmdL -500 cmdR -500

if I brake the wheels I see: in1: -1000 cmdL -500 /0/-500/0/-500 cmdR -500/0/-500/0/-500 🤔

[Candas1]

Pwm variant picks a lot of noise, that's why I told you to check the wiki. It tells you how to deal about that

[ombra80]

it wasn't a noise problem, I solved it with short and shielded cables. I replaced the board and now it works fine. it was probably defective or not 100% compatible. now work! https://youtu.be/uB3rUG6iHAE