Torque control

[FHanus]

Hello,

I have no issues controlling the position of the RMD-x6/8 motor, but the torque is a problem.
I tried the torque control example, with the same hardware setup that works perfectly for position control (as simple as possible with MCP2515 and MISO GPIO19, MOSI GPIO23, CS GPIO05, and CLK GPIO18).

Is there something I am missing in order to make it work? A difference from the position control I haven't considered? Ideas for debugging steps?

[matthieuvigne]

Hi @FHanus

I'm quite sorry, I had github notification ill configured and didn't see you issue :(

I'm no longer using the RMDX drivers, so I don't have one at hand right now to test this. Generally speaking I found it to be quite unreliable with lots of undocumented behavior or soft-locks ; I'm currently building my own replacemetn driver...

Now concerning the code itself, at the time when I wrote the code, I know I tested it successfully on Arduino - but that was with their V2.4 hardware whereas they now sell the V3, this is probably what you have and perhaps this is the difference? I had the V3 working on a raspberry pi (see https://github.com/matthieuvigne/MiAM_robotics/blob/master/miam_utils/src/drivers/RMDX.cpp), I don't remember there being a difference to get torque control working.
But I can investigate more, by looking at the code or getting the motor setup with an Arduino one again (it's currently sitting in a drawer). Tell me if you need me to investiage or if you've moved on (given the delay I guess it's probably the latter ^^).