Hi, I struggle to run a brushed motor with ODrive.
I add a function to run brushed motor in motor.cpp.
I can run brushed motor if I set torque_setpoint directly(set as “12” in below picture).
But, I cannot do that if I set torque_setpoint through controller.
odrv0.axis0.controller.input_torque=12;
What is the problem?
My ODrive configuration is below.
odrv0.axis0.controller.config.control_mode = CONTROL_MODE_TORQUE_CONTROL;
odrv0.axis0.controller.config.input_mode = INPUT_MODE_PASSTHROUGH;
regard.