Dear Developer,
We are trying to control a motor using FSR with the original v2.0 code. We have set the torque to 0.5 N·m via the SD card. However, when controlling the motor through the GUI, the output torque becomes extremely large and uncontrollable. Even after increasing the current limit of the adjustable power supply from 24V/2A to 24V/5A, the current hits the upper limit instantly. Could you please advise on how to resolve this issue? Thank you very much for your help.
Can you please provide more information about which controller you are using? Custom or one of our existing controllers?
float ProportionalHipMoment::calc_motor_cmd()
{
//Store Flexion and Extension Setpoints
float extension_setpoint = _controller_data->parameters[controller_defs::proportional_hip_moment::extension_setpoint_idx];
float flexion_setpoint = _controller_data->parameters[controller_defs::proportional_hip_moment::flexion_setpoint_idx];
The code above is the existing controller developed and used by our project team, which is what we are currently utilizing. During the FSR calibration process, any foot contact with the FSR—whether a light touch or firm pressure—will result in uncontrolled torque output from the motor.
Very sorry.There was a typo in the text input. We are using the controller developed by the EXO Project Team.
Hello @Huang_Enghong,
Apologies for the delayed response. The FSRs are set to calibrate for the first 5 seconds then the following 7 steps are a recalibration/check. This error has not made a notable impact on our end after the initial 5 second calibration. If this issue only occurs during calibration for your team as well we recommend adding a millis() based timer to prevent the controller from sending torque commands before the FSRs are calibrated
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