I am currently using the CAN protocol to command the ODrive. I am using python-can and the CANSimple DBC file provided in the documentation (ODrive/odrive-cansimple.dbc at master · odriverobotics/ODrive · GitHub). It works fine (I can read the Heartbeat message, I can change the required state, I can command the torque…) except for the Get_Iq command which returns me 0 for the Iq_Setpoint and a constant value for the Iq_Measured. This makes me think that Iq_Measured is actually Iq_Setpoint and that Iq_Setpoint is something else.
Has anyone experienced something similar? Any suggestion on how to solve this? Thank you!