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verified publisher icon Ultrawipf

OpenFFBoard changes the Control Mode to IDLE on ODrive

Open vallypopescu opened this issue 6 months ago • 2 comments

Hi,

I have an OpenFFBoard connected via CAN to an ODrive 3.6. Everything works on ODrive, CAN communication is ok but there is a problem: with the ODrive ready to go, set to torque control and in control loop mode, with the OpenFFBoard connected to ODrive via CAN but disconnected from PC, as soon as I plug in the FFBoard into PC USB, the ODrive state changes from Closed Loop Control (8) to Idle (1).
It doesn't let me to change the state from 1 to 8 on ODrive, unless I disconnect the FFBoard (unplug from PC USB).

vallypopescu avatar Jun 04 '25 03:06 vallypopescu

I figure it out if I power on first the Odrive and then I power on the OpenFFBoard, the state is changed to idle. If I power on the FFBoard first and then the ODrive, the state remains in closed control loop.

vallypopescu avatar Jun 07 '25 10:06 vallypopescu

It triggers the initial calibration sequence. Maybe that is not required and depending on the odrive configuration it may fall into an error state.

Ultrawipf avatar Jul 09 '25 19:07 Ultrawipf