I was wondering if it would be possible to adapt the closed loop positioning to varying loads and external forces. For example if you go up or down with a heavy load you’re going to require different accelerations since gravity is acting with or against the movement. How would one go about setting up an odrive system for this if it’s even possible?
My guess is that you could change the gains in the controller config for every time you change directions. Is there any better way of doing this, or is it even possible? I have never seen any implementation where the load is unbalanced like this.