Hi, we’re testing our completed solo12 and when a leg moves to fast or hits something harder than usual, the motors involved stop moving and start making a high pitched noise. This is only fixed powering off and on the robot.
Is this a normal expected behavior? Why does this happen?
Thank you.
Hi,
this is most likely a power supply issue.
When the robot suddenly demands a lot of current most power supplies are not dynamic enough to follow.
That causes the supply voltage to drop - if the voltage drops below 8V the motor driver boards will reset.
You should see the status leds on the motor driver boards turn red.
Below is a picture of the supply voltage that we recorded when this happened.
You can hear the high pitch sound in some of our fail videos.
To overcome this issue you can increase the voltage to 30V and/or increase the current limit on the power supply. For the 1 meter high jumps we had to electrically split the robot in two parts - we used one power supply for the front legs and a separate power supply for the hind legs.
This issue should be resolved once we switch to the onboard batteries.
Best. Felix
