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SaddlebackCollegeRobotics / .github

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Fix odrive over-current issues #189

Open Supernova1114 opened 2 months ago

Supernova1114 commented 2 months ago

For drive system.

Supernova1114 commented 2 months ago

https://discourse.odriverobotics.com/t/odrive-s1-current-limit-violation-error/11432

Made a post on the ODrive forums regarding the issue. Need to respond.

Supernova1114 commented 2 months ago

Tweaked the PID loop for the new motor gearbox. Only saw around 2 Amp current spikes while free spinning. (Down from 20 A spikes).

Supernova1114 commented 2 months ago

Update: Did a drive test yesterday and did not get any over-current errors until we really pushed it. (Wheels being locked by a concrete curb and attempting to turn.)

Will want to do a bit more testing.

Supernova1114 commented 2 months ago

Potentially setting the vel_integrator value to zero may be a fix for our issues with current spikes on rocky terrain. Update: did not seem to fix issue.

Supernova1114 commented 1 month ago

Going to put this on hold, we implemented a function to reset the drive and arm system if needed. It looks like we would need to have integrated encoders with better resolutions.