I have officially soldered every possible connection to the TMC6300. It still isn’t working. I am using the following code, which is the suggested example code. Maybe its the wrong code for the gimbal motor w/ encoder (ROB-27478). I am genuinely at a loss at this point. And at a loss for how to troubleshoot. I started testing the board pins and they were working great. Then I tried to connect LEDs to the U,V, and W ports with LEDs in both direction and a resistor between each port, and that gave me really weird results where sometime 3 LEDs lit, sometimes 1, and sometimes none. I think this is because of the PWN connections no sending the traditional signal that an on/off LED diode expects, so I’m not too worried there. I’m just really confused on what to do next. The motor should be running without me having to input any commands right? AI is telling me to switch to a 3PWN controller.
CODE I AM USING - it’s the example code.
"// Open loop motor control example
#include <SimpleFOC.h>
// BLDC motor & driver instance
// BLDCMotor motor = BLDCMotor(pole pair number);
BLDCMotor motor = BLDCMotor(7);
// BLDCDriver3PWM driver = BLDCDriver3PWM(pwmA, pwmB, pwmC, Enable(optional));
BLDCDriver6PWM driver = BLDCDriver6PWM(5, 6, 9,10, 3, 11);
// Stepper motor & driver instance
//StepperMotor motor = StepperMotor(50);
//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6, 8);
//target variable
float target_velocity = 2;
// // instantiate the commander
Commander command = Commander(Serial);
// void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); }
// void doLimit(char* cmd) { command.scalar(&motor.voltage_limit, cmd); }
void setup() {
// driver config
// power supply voltage [V]
driver.voltage_power_supply = 6;
// limit the maximal dc voltage the driver can set
// as a protection measure for the low-resistance motors
// this value is fixed on startup
driver.voltage_limit = 2;
// pwm frequency to be used [Hz]
// for atmega328 fixed to 32kHz
// esp32/stm32/teensy configurable
driver.pwm_frequency = 32000;
driver.init();
// link the motor and the driver
motor.linkDriver(&driver);
// limiting motor movements
// limit the voltage to be set to the motor
// start very low for high resistance motors
// current = voltage / resistance, so try to be well under 1Amp
motor.voltage_limit = 2; // [V]
// open loop control config
motor.controller = MotionControlType::velocity_openloop;
// init motor hardware
motor.init();
// add target command T
// command.add(‘T’, doTarget, “target velocity”);
// command.add(‘L’, doLimit, “voltage limit”);
Serial.begin(115200);
Serial.println(“start”);
Serial.println(“Set target velocity [rad/s]”);
_delay(1000);
}
void loop() {
// open loop velocity movement
// using motor.voltage_limit and motor.velocity_limit
motor.move(target_velocity);
// user communication
command.run();
}"
