Activating Anti-Cogging on the ODrive Robotics Controller (smooth brushless motor control)
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- Опубліковано 18 лют 2021
- I wanted to make a video explaining how to enable anti-cogging on the odrive robotics motion controller to help others gain better control of their robots at slow speeds. This took me a little time to get my hear around so I wanted to save others some time.
NOTE: brushless motors can be very powerful. I take no responsibility for any damage to yourself of your equipment as a result of following the directions in this video. do your own research and double check compatibility. Take safety precautions at all times.
I am not affiliated with ODrive robotics or any other vendors mentioned in this video.
All the code from this video is available on my blog at: www.andyvickers.net/2021/02/1...
Anti-Cogging Algorithm Brings Out The Best In Your Hobby Brushless Motors | Hackaday (hackaday.com/2016/02/23/anti-...)
Anti-cogging Feature - ODrive Community (odriverobotics.com) (discourse.odriverobotics.com/...)
ODrive robotics website: odriverobotics.com/
This video includes Royalty Free Music from Bensound
![Using an RC Controller with an Arduino [With code and wiring]](http://i.ytimg.com/vi/mL4yEb05obU/mqdefault.jpg)
Great video Andy! Well done!
Thank you SO much, this is exactly what I needed, please post some more videos on O-Drive. Great production!
Great video! Thanks for posting!
Thank you for this video and to have post code on your website ! Very helpfull ! I scratched my head a bit less thanks to you !
Thanks for the video and even bigger thanks for having the source on your website. When it comes to something with code please continue to have text posts with the videos!
Great job Andy! Saved me a lot of time!!
Great explanation and video quality!
Thank you bro for this information. I was struggling with this issue for some time and I have the same setup of yours. Now I can fix it. 👍👍
Really glad it helped you. Let me know if there are any other videos I can make that you think would be helpful!
great explanation of how to fix cogging
Thank you very much!
Great tutorial Andy, just a bit fast for me as a beginner but using the speed control slowed you down to suit my understanding and typing skills, thanks for your time.
thank you for the feedback! this was actually my first ever real video so its nice to hear ways I can improve. My aim is to help beginners because I have been there too!
Great video! Subbed
Thank you!
great help , thanks
thank you so much!!
Thank you, ill need it soon, i just get "odrived" myself!!
thx for the sharing. Hopefully future can share some tips on calibrating the odrive parameter for motor (on how to set the gain value).
I have been thinking about my next odrive video. Thanks for the idea. I am going to probably focus on the control next, integrating RC control through Arduino for example but I do intend to circle back on anti-cogging at some point as I got a few tips from the manufacturer also to make the video better so it needs a part 2.
Straight to the point. Thank you! Could you do a video on how to use a hoverboard motor using odrive?
Unfortunately I don’t have a hoverboard motor but if anyone wants to donate one I’ll happily make a video
Great Vídeo! Didi you use Devel or 5.1?
Just straight 5.1 :)
ı dont want use close loop control on my electric scooter, is that possible?
OMG thank you for this!
you are very welcome!
هل من الممكن وضع أبعاد القطع المستخدمة العجلات .. الحوامل.. أبعاد المعدن او المركبة بشكل عام وشكرا جزيلا
Great video, but how on earth do You find all the values? I have an RMD X8 Motor and the datasheet contains almost no values...
I am trying to choose some bldc motors for a robotic arm project but some of the motors that i want to use are not hall sensored. Do you think using a bldc motor without a hall sensor on a robot arm will cause problems when powering up?
I am having great sucess with the AMT102 encoders for use with brushless motors. if you have a brushless motor without a hall sensor you can use these encoders on the shaft to give you 8192 counts per resvolution of precision. They are excellent and reliable. They come with a multitude of different shaft adapters so you can add them to almost any brushless motor. You can buy them from the Odrive store: odriverobotics.com/shop/cui-amt-102 .
I think with a robot arm, precision is everything so running it without an encoder or position sensor will be almost impossible. You will be able to power it fine but you would need to control it on current mode which would be like an electric skateboard - just dumping amps in without any precise control.
@@AndyVickersNet i will be using an encoder if the motor does not have hall sensor. But i saw some people experiences problem when driving bldc motors without hall sensor thats why i have asked. From your reply i understand that if i have an encoder its fine right? Btw thank you for the reply.
I believe that following step by step what you do the most I can't you can help me
Hi, Thanks for sharing this amazing tutorial. Im doing whatever you do. But vel_integrator_gain and pos gain is so high. It turned my motor wildly. And the loud is so scary. Then ı halve the values. Now its ok. One question. How much will it take ?
Sounds scary!! Did you reset the board first? I feel like you might have some other parameters that might be complicating things there. What motor were you using?
@@AndyVickersNet Hi thanks for reply. Im using Turnigy aero sk3 5055 280kv motor. I set pos_gain to 200. Vibrated wildly amd nothing happened about Calibration. Then ı try many values as pos_gain and integrator_gain. Nothing changed. I wait about 1 hour and I have Just 1 degree return - which rotated at its first time-.
Now I dont know what to do
Hmm I would be interested to see your full config. What is your current set to?
Have you tried posting in the odrive discord? There are many great people there, it might be the fastest way to get help
@@AndyVickersNet I will post my config. İf ı solve the problem ıIwill post here to make troubleshoot. Thx for your interest.
I've got a question. I'm going through the procedure and it all works fine. When i test it i can go down to 0.3 vel with smooth movement. My issue is though that the saving procedure doesn't work. Every time i reboot the anticogging calib is gone. Any Ideas?
I found recently that you have to put the motor state into IDLE before you can save. I’m not sure if that’s new or I just noticed it but if your motors are active or won’t save
@@AndyVickersNet thx so much ill give that a try
Does this anticogging work bidirectionally?
It does
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We just put a cheap encoder on the end.
which one did you use?
@@AndyVickersNet CUI encoders work if you are not doing millions of back and forth moves.
@@chrispollard6568 I was using the CUI AMT102-V in the video. it does seem to be a solid encoder. It was $39 direct from ODriveRobotics too.
@@AndyVickersNet Digikey is way cheaper.
@@chrispollard6568 Holy Smokes you are right, they are at $28.86!