B-G431-ESC1 Unable to Spin Motor in Closed Loop Velocity or Position

Owen_Williams · February 7, 2024, 10:51pm

Are you confident you have the pole pairs correct?

Have you done a sensor test on its own e.g

simplefoc/Arduino-FOC/blob/master/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_i2c/magnetic_sensor_i2c_example/magnetic_sensor_i2c_example.ino

#include <SimpleFOC.h>

// MagneticSensorI2C(uint8_t _chip_address, float _cpr, uint8_t _angle_register_msb)
//  chip_address  I2C chip address
//  bit_resolution  resolution of the sensor
//  angle_register_msb  angle read register msb
//  bits_used_msb  number of used bits in msb register
// 
// make sure to read the chip address and the chip angle register msb value from the datasheet
// also in most cases you will need external pull-ups on SDA and SCL lines!!!!!
//
// For AS5058B
// MagneticSensorI2C sensor = MagneticSensorI2C(0x40, 14, 0xFE, 8);

// Example of AS5600 configuration 
MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);


void setup() {
  // monitoring port

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Manually turning the motor 360deg should show 2xpi radians in the output for above test.

If you’ve done that then it would be good to post the output from your code, the initFOC method prints a bunch of info that might help you/us work out what is going on.

I did that video 3 years ago and it could probably do with being replaced by someone with more experience than me i.e i think the recommended 1st step for closed loop is ‘torque mode using voltage’ as it is simplest (no PIDs to tune). See step 3: