I am trying to use current_lim with
but I can only get it to work for a positive current limit. I would like to have it work the same way for a negative current which will represent a torque in the opposite direction but cannot figure out how. I tried passing a negative current value but the motor simply idled. Does anyone know how to do this?
It should work for both directions. I don’t think there is a way to have it apply different limits depending on direction - it’s the magnitude of a 2D vector so it is inherently unsigned.
Perhaps it is something to do with the configuration of my ODrive, but resistance is only applied my the motor once the current threshold is reached in one direction. See the below post for the detailed code being used.
See this post: Reverse Direction of Rotational Resistance for Current_lim