Actual motor speed with encoder

Hi! I want to get the actual speed of the motor, not from the controller (the vel_setpoint parameter does not suit me). How can I find out the actual speed of the motor? I’m using Odrive 3.5

ODrive v3.5 is no longer supported, I would suggest using an ODrive Pro/S1, or the v3.6 but only if the older design is a strict necessity.
That said, the position and velocity are measured directly by the encoder. For the speed in turns per second you can use odrv0.axis0.encoder.vel_estimate, or you can use the encoder ticks per second with odrv0.axis0.encoder.vel_estimate_counts.

Thank you for your help! That’s what I needed.