One motor slowing down (stopping)
Posted: Thu Dec 10, 2020 12:37 am
Hi,
I'm working on a heavy (80kg) robot. It has 4 wheels (differential drive), each one with its one motor and encoder.
I'm using 2 roboclaws 2x60A to control them (one for the front wheels, one for the rear wheels).
I'm commanding the roboclaws from a Jetson Xavier AGX developper kit (embedded computer running linux, similar to a Raspberry Pi but far more powerfull). I'm using the python API to communicate with the roboclaws from within a ROS node.
The problem I have, is that sometimes, one wheel, always the right rear one, seems to "block" (more precisely, it turns very slowly (I think driven only by the movement of the robot) while the other ones still turn at normal speed).
My first idea was some error in my code, but I always send exactly the same commands at the 2 roboclaws, so it seems very unlikely that this is the problem.
Do you have any idea were the issue might come from? Or what tests I can do to gather useful data to find the solution?
Thanks a lot in advance
Felix
PS : please find attached the code of my roboclaw ROS node.
I'm working on a heavy (80kg) robot. It has 4 wheels (differential drive), each one with its one motor and encoder.
I'm using 2 roboclaws 2x60A to control them (one for the front wheels, one for the rear wheels).
I'm commanding the roboclaws from a Jetson Xavier AGX developper kit (embedded computer running linux, similar to a Raspberry Pi but far more powerfull). I'm using the python API to communicate with the roboclaws from within a ROS node.
The problem I have, is that sometimes, one wheel, always the right rear one, seems to "block" (more precisely, it turns very slowly (I think driven only by the movement of the robot) while the other ones still turn at normal speed).
My first idea was some error in my code, but I always send exactly the same commands at the 2 roboclaws, so it seems very unlikely that this is the problem.
Do you have any idea were the issue might come from? Or what tests I can do to gather useful data to find the solution?
Thanks a lot in advance
Felix
PS : please find attached the code of my roboclaw ROS node.