Hi,
the symptoms you described indicate a runaway situation. You also didn’t mention anything about velocity PID tuning.
I guess you went from torque-mode to angle-mode directly?
If you want to bypass velocity tuning, you should try angle_nocascade-mode.
Hi, thank you very much for your comment! It was really helpful. Just as you pointed out, I was missing the velocity PID tuning. After adding the following settings, it worked perfectly. motor.P_angle.P = 0.5f; motor.P_angle.I = 0.0f; motor.P_angle.D = 0.0f; motor.PID_velocity.P = 0.1f; motor.PID_velocity.I = 0.0f; motor.LPF_velocity.Tf = 0.01f; Thank you so much for pointing me in the right direction!
– colapunch