Is the sample given by the program an appropriate motor operation parameter that has been adjusted?My robot moves very slowly and has very little torque
There’s a method called
def setCurrent(self, hold, run, acc, dec), which you can adjust. I suggest you start with low values e.g.
setCurrent(10, 10, 10, 10), and increase, until you find something suitable. If the hold value is high, then the L6470 chip and motor may get hot.