[BUG] Strange behavior on ESP32

[DemiurgZ]

Using very simple setup. Actually, limited it to just ESP32, trying various drivers and AS5600 sensor. Motor running ok in velocity mode and angle open-loop.

Even though in the open loop it gets too much current is fed to the motor, and motor gets hot quickly.

When angle closed loop mode set, then everything gets really strange. As soon as I add motor.initFOC() in setup - it looks like ESP starts freezing loop cycles. Or maybe skipping these. All serial output gets frozen, while motor behaves strange: FOC passes correctly (with slight smooth movement of motor) and then it starts quickly jumping between positions (always clockwise)..

Describe the hardware setup For us it is very important to know what is the hardware setup you're using in order to be able to help more directly

• 4108 gimbal motor (11PP)
• simpleFOC mini
• ESP32
• AS5600
• Current sensing used? NO

IDE you are using

• Arduino IDE

Tried the Getting started guide? - if applicable YES

[runger1101001]

Hi,

Not sure what is going on here...

Could I ask you:

• which ESP32 is it that you are using?
• would you mind sharing the code you are running?
• are you sure the PP number is correct with 11?
• Do you have debug output enabled? Would you mind sharing the serial output?