Anticogging algorithm for velocity control


I am carrying out some work with a BLDC motor and I found your whole project which looks amazing!
I just have one question : does the anticogging algorithm work for both postition and velocity control with the ODrive?
From what I found it definitely works with position control but I couldn’t find the info for velocity control!

Thanks in advance!

Yes, I use it myself in velocity control

Hi thanks for the reply! Is there any speed limit beyond which it is no longer appropriately working?

I don’t think anticogging is related to the speed limit.

Ok, thanks for your info!

anticogging calibration is done for smooth rotation at lower velocity, otherwise when you give input_vel = 0.5,0.2 or 0.1 etc then motor will not rotate smoothly.