Motor Very Fidgety During Open Loop [VID INCLUDED]

[Valentine]

@Parth_Raut

Do these not look like correct center-aligned PWM with deadtime insertion? What would be a good way to tell

@Parth_Raut

Great. At least you got it spinning.

Phase to phase they are centered, however, interphase they are not. Probably not a big deal as the voltage gets smoothed out by the inductance in the coils. Usually if they are generated by the same timer, they should be perfectly centered, but no big deal. As long as the motor runs smoothly you will be OK.

@Parth_Raut

reduce the motor.voltage_limit and motor.velocity_limit

Correct, you probably saturated the PWM and it was just giving you all 0 or 1 for portions of the sine wave. As I said, Teensy may have some issues.

Good luck with the competition and please post some more videos and pictures of your experimental setup. There are many people here that would like to learn from your experience and know what the competition is about.

Cheers,
Valentine

Check this post it may help you.

Gimbal motor overheating

I keep seeing this question over and over, perhaps it is good to put it to rest, hopefully others will read this and try it before giving up in frustration. My motor overheats, my motor vibrates but doesn’t move, my motor is griding and skipping, etc. Remember that the voltage AND velocity for an open loop, no feedback algorithm for a particular unknown motor work in a very narrow band. [Untitled] The best way to handle this is to attach two potentiometers to A0 and A1 or whatever analog si…