Motor stuttering at low and high speed with openloop

hardware support
2

Hey @MORDRET_Pierre-Yves,

Welcome to SimpleFOC!

A few points I note:

  1. The motors you link, in my experience, have around 5-10ohm phase resistance. Not 100mOhm like you write. Did you measure them?
    But in your sample code you’re not using the resistance value, so it should not matter.

  2. You’re using the same voltage limit on motor and driver, which will lead to a lot of overmodulation. Please try with motor.voltage_limit = driver.voltage_limit/2.0f;

  3. Please remove the KV value from the motor constructor for initial testing. You can always add it back later.

  4. The L298N is a very old transistor based h-bridge. It’s hard to get good performance out of it. In particular, I think running it at 5V is a bit low, you might have better results with the motor supply voltage at 10V, well above the logic switching voltage (3.3V for the black pill MCUs).