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willem-pennings / balancing-cube

A cube that balances itself in a corner or edge using reaction wheels
GNU General Public License v3.0
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Overcurrent Error on Escon Controller #5

Closed cumhuronat closed 4 months ago

cumhuronat commented 4 months ago

I keep getting Overcurrent Error randomly in a few seconds after the cube starts balancing and it causes the cube to fall. The error appears randomly in one of the 3 escon controllers. The error is both visible in the escon studio and with the status led (2 red blinks). I tried regulation tuning as well but it didn't help. Any ideas what might be the problem? image_6209779

willem-pennings commented 4 months ago

Hello, pleased to see a fully assembled cube! I recognize the error and in my case the problem was that the controller gains are just too high. The values that are obtained through the tuning procedure are no good (too high). Are you using the values from my configuration file?

I am using these values for the current controller (which is the only one you need):

afbeelding

cumhuronat commented 4 months ago

Thanks for sharing your pid values, will try them and let you know the result. Thanks again for making this opensource!

willem-pennings commented 4 months ago

Thanks, I'm curious to know if this gives better results. I just noticed that the gains in my configuration files are wrong so I updated them with the values posted above. It probably explains your issue..!

cumhuronat commented 4 months ago

It works like a charm now! Thank you https://github.com/willem-pennings/balancing-cube/assets/529671/bb86d19a-39b8-46b5-92c9-854b028f8558

willem-pennings commented 4 months ago

Excellent, congratulations!