Hey, I’m pretty new to simpleFOC but I’m trying to use it to build a balancing robot!
My setup is as follows:
Nema17 Stepper motors
AS5048a encoders via SPI
ESP32 (Using newest version of library so not the pwm issue from previous)
I’ve managed to get the robot balancing with closed loop velocity control (See video). But I’m having issues when I try and move the robot or introduce disturbances as the motors seem to be quickly hitting a velocity limit at around 10 rad/s and promptly falling over.
The weird problem I’m having is that when I’m testing velocities, I seem to be able to go faster in one direction (like 20 rad/s). I’m powering the motors with a 4S Lipo and I’ve got the voltage limit set to 12V, in one direction for some reason it is ramping up to that 12V much quicker.
Has anyone else had any weird issues with stepper motors like this? Let me know if there’s any more info that might help, thanks!