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EFeru / hoverboard-firmware-hack-FOC

With Field Oriented Control (FOC)
GNU General Public License v3.0
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Motors stutter and go off while driving #441

Open DrKlipper opened 11 months ago

DrKlipper commented 11 months ago

Variant

USART

Control type

FOC

Control mode

Voltage

What is the bug and how to reproduce it ?

Hi !

I'm just building a "driveable beer case". The work is almost done, and now it's time to get the control ready. I use the SERIAL communication in tank mode. At the moment, the rest of the code is exact the same as the repo. Controlling is done by a Raspberry Pi Zero W2 and Python. I use a joystick in combination with evdev to get my values for the driving / steering.

So far all works well but after I drove this "thing" I noticed that the run is not really smooth. So I put all on my desk and while playing with the joystick I noticed this stuttering. I recorded a short video: http://www.drklipper.de/VID_20231009_044156.mp4

Sometimes the motors went off even if the serial command tells them to spin forward. And take a look at video position ~0:22. There is this event where the motors do something like a full stop.

Can anyone give me some advice / test / hint what I can do now. Because right now this creation is not driveable.

Dominik

Candas1 commented 11 months ago

Hi,

You need to check if the problem is the communication. Try with the ADC variant and potentiometers for example.

DrKlipper commented 11 months ago

Hi Candas1,

thx for the reply. Ok I will check it with the ADC variant. But one other question .. How often can I update the values via UART? At the moment, I slow it down to update only ever 250ms at max. Is that too often?

Candas1 commented 11 months ago

Please check the wiki it's detailed there. Maybe it gives you more insights