B-G431B-ESC1 not able to move the motor

[Akshat_codes_]

Hi, 

I am trying to use the disco-B-G431B-ESC1 board to move my gimbal motor. I am using the simpleFOC library example. The problem I am facing is that the motor is not moving. The motor is vibrating at a pole. If I move the motor by force then it vibrates at the next pole but does not start to rotate. I have checked with different motors but the issue persists. I have tried this same code with other gimbal controllers and it works fine. The motors are not faulty as I have tested them. Could anyone please advise me what to do?

Below is the code I am using to run the motor at constant velocity in open loop mode - 

// 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));
BLDCDriver3PWM driver = BLDCDriver3PWM(PA8, PA9, PA10);

// Stepper motor & driver instance
//StepperMotor motor = StepperMotor(50);
//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6,  8);


//target variable
float target_velocity = 10;

void setup() {

  // use monitoring with serial 
  Serial.begin(115200);

  // driver config
  // power supply voltage [V]
  driver.voltage_power_supply = 12;
  // 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 = 6;
  if(!driver.init()){
    Serial.println("Driver init failed!");
    return;
  }
  // 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 = 3;   // [V]
 
  // open loop control config
  motor.controller = MotionControlType::velocity_openloop;

  // init motor hardware
  if(!motor.init()){
    Serial.println("Motor init failed!");
    return;
  }

  Serial.println("Motor ready!");
  Serial.println("Set target velocity [rad/s]");
  _delay(1000);
}

void loop() {

  // open loop velocity movement
  // using motor.voltage_limit and motor.velocity_limit
  // to turn the motor "backwards", just set a negative target_velocity
  motor.move(target_velocity);
  motor.loopFOC();
}

Below is the platform.ini file for my project -

; PlatformIO Project Configuration File
;
;   Build options: build flags, source filter
;   Upload options: custom upload port, speed and extra flags
;   Library options: dependencies, extra library storages
;   Advanced options: extra scripting
;
; Please visit documentation for the other options and examples
; https://docs.platformio.org/page/projectconf.html

[env:disco_b_g431b_esc1]
platform = ststm32
board = disco_b_g431b_esc1
framework = arduino
monitor_speed = 115200
monitor_port = /dev/ttyACM0

build_flags = 
    -D PIO_FRAMEWORK_ARDUINO_ENABLE_CDC
    -D PIO_FRAMEWORK_ARDUINO_NANOLIB_FLOAT_PRINTF
    -D PIO_FRAMEWORK_ARDUINO_USB_HIGHSPEED_FULLMOODE

lib_deps =
    https://github.com/simplefoc/Arduino-FOC.git