it works but not stable with L298N circuit

[hoawglee]

ch.a.n.i.5V.vao.2.chan.en.mp4

[hoawglee]

This is the result when I connected it like the video link you sent, I did not plug the 2 ENA ENB pins into 5V, then I got the result like this
https://youtu.be/V_50bZ3S7bE

[hoawglee]

[hoawglee]

[hoawglee]

I did not change the firmware but only changed the config file to match my wiring, and my N20 motor has 1:150 which means 200RPM no load

[hoawglee]

sau.khi.n.i.5V.vao.2.chan.en.mp4

[hoawglee]

and this is the result after I connected the 2 ENA ENB pins to 5V, as expected when I pressed on the keyboard to accelerate, it was fixed at 5V, it reversed rotation but when I pressed the space button, it was unstable, that is the issue that needs to be discussed, as you can see, after pressing space, it stopped but after a while it continued to rotate and then stopped again.

[hoawglee]

[hoawglee]

space.is.not.stable.mp4

[makers-pet]

Hello, it seems there is something wrong with your wiring or L298N.

• you must put jumpers on EN_A, EN_B. The control will not work without the jumpers.
• You should debug it properly
  • take an oscilloscope
  • check ESP32 outputs (check their state as you change speed and stop)
  • check L298N inputs (check their state as you change speed and stop)
  • check L298N outputs (check their state as you change speed and stop)
  • check ESP32 inputs (encoders)
• use the original.yaml (don't change ESP32 GPIO assignments - that may cause problems)

[hoawglee]

But in the config file, I did not change the driver pin with esp32, but I changed the encoder pin. However, as you can see, when I want to stop the motor, the motor jerks locally, sometimes stopping and sometimes running.

[makers-pet]

I don't recommend changing any GPIO at all, including encoders. ESP32 has many GPIO limitations, so if you change GPIO, the project can stop working. https://makerspet.com/blog/esp32-gpio-limitations/

…

On Sat, Nov 22, 2025, 9:26 PM hoawglee ***@***.***> wrote: But in the config file, I did not change the driver pin with esp32, but I changed the encoder pin. However, as you can see, when you want to stop the motor, the motor jerks locally, sometimes stopping and sometimes running. — Reply to this email directly, view it on GitHub <#84 (reply in thread)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/BCJ6V3UZDEAMTT4SIN3LJW336FAO3AVCNFSM6AAAAACM5QLD52VHI2DSMVQWIX3LMV43URDJONRXK43TNFXW4Q3PNVWWK3TUHMYTKMBVGAZDEOI> . You are receiving this because you commented.Message ID: ***@***.***>

[hoawglee]

I mean I just adjusted the encoder wire connected to the esp32 but
what does it have to do with the motor control part because I left the
driver part as the original config file

[makers-pet]

A problem with encode can cause instability.

[hoawglee]

I left the 2 jumpers on the ENA ENB pin of the L298N like the video you sent me and I see the same speed as at 5V, and no need to change the configuration or software right..
https://youtu.be/V_50bZ3S7bE

[makers-pet]

Ok, I already long forgot how I did it.

Correct, no changes to firmware or config.yaml

[hoawglee]

After I observed, I saw 3 cases as follows:
Case 1 (cannot stop & 2 wheels run backward and forward)
Case 2 (can stop but 2 wheels run in opposite directions)
Case 3 (stopped but when the two-wheeled space runs in reverse and the robot vibrates to move)
In the above 3 cases, I reversed the M1 M2 and IN1 IN2 wires of the motor. I am just testing if the motor is running properly and have not plugged in the lidar yet.

[hoawglee]

Do you have any image or file of algorithm diagram for this project? If you have please send it to me

[makers-pet]

There are some project diagrams here

https://blog.kaia.ai/ros2-micro-ros-architecture-talk/

[makers-pet]

I'm not sure. I don't have enough information. You can check if it's due to the PID or not - by disabling the PID.

zero out all PID coefficients except the proportional one

Now when you use teleop_keyboard and set linear speed to X, your motor speed will be proportional to X*K_pid_proportional. Once PID is disabled, try controlling the robot. Check if your wheel oscillates or not. If oscillations are gone - try reenabling the PID. If the oscillations come back - probably it is the PID. <https://www.avast.com/sig-email?utm_medium=email&utm_source=link&utm_campaign=sig-email&utm_content=webmail> Virus-free.www.avast.com <https://www.avast.com/sig-email?utm_medium=email&utm_source=link&utm_campaign=sig-email&utm_content=webmail> <#DAB4FAD8-2DD7-40BB-A1B8-4E2AA1F9FDF2>

…

On Sun, Dec 14, 2025 at 6:10 PM hoawglee ***@***.***> wrote: I'm asking if it's due to the PID, because each system requires different PID settings. — Reply to this email directly, view it on GitHub <#84 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/BCJ6V3VQEW3RDQ5OW6JXQVL4BYKCXAVCNFSM6AAAAACM5QLD52VHI2DSMVQWIX3LMV43URDJONRXK43TNFXW4Q3PNVWWK3TUHMYTKMRVGUYDKOA> . You are receiving this because you commented.Message ID: ***@***.***>

[hoawglee]

dk.dongco.mp4

I was able to control the motor speed and stop it. I found the cause was the PID controller. I adjusted the PID controller for my system and it worked. However, the map displayed doesn't seem to be as expected.

[iovsiann]

• be sure you are using the latest kaiaai/kaiaai:iron image
  • quit Docker, run docker image prune -a
  • this command removes ALL images docker rmi $(docker images -a -q)
  • docker pull kaiaai/kaiaai:iron
• verify your PPR setting
• see the bottom of this thread Self driving robot mapping and self exploration (SLAM) issue #85