Brushless Drive - Left wheel rotates faster

[mattiman]

I am confused with my brushless drive system.

When doing odometry test using serial monitor, left wheel rotatates about 25% faster.

I get about 5990 left and 4800 right pulses.

When switching odometry connectors (left to right and right to left), still the same.

I also changed brushless drives to different ones ( ZS-X11D1), same happened.

What can be wrong?

Is it possible to change one wheel pulse ratio in the software?​

 

[Silberstreifen]

Do both motors make exactly 10 revolutions?
I suspect not. Then that shouldn't be a problem. For calibration, use the motor that makes exactly 10 revolutions.

In the calibrated state, you then drive a distance straight ahead using the app's manual control. If that works, everything is fine.

The odometry test runs uncontrolled, i.e. without a PID controller. During later operation, a PID controller always regulates the differences.

I suspect the cause is the different internal friction of the drive motors, which will hopefully disappear after a while.

 

[bernard]

I am confused with my brushless drive system.

When doing odometry test using serial monitor, left wheel rotatates about 25% faster.

I get about 5990 left and 4800 right pulses.

When switching odometry connectors (left to right and right to left), still the same.

I also changed brushless drives to different ones ( ZS-X11D1), same happened.

What can be wrong?

Is it possible to change one wheel pulse ratio in the software?​

Possible this help:
It's better that firmware send the same dir on the 2 drivers.
Try to change the rev dir on the out of driver : Check the wiring phase order .
only adjust if necessary into config.h:

//#define MOTOR_LEFT_SWAP_DIRECTION 1 // uncomment to swap left motor direction
//#define MOTOR_RIGHT_SWAP_DIRECTION 1 // uncomment to swap right motor direction

 

[spranz]

Do you have soldered the caps for odometry division? Maybe there ist one cap without connection...