The default control mode is position control. If you want a different mode, you can change .controller.config.control_mode. Possible values are:
CTRL_MODE_VOLTAGE_CONTROL - this one is not normally used.
Hello. I am not sure when to use any of these control modes or which one is the most “acceptable”. ?What is the logic behind when deciding which one to pick?. Can you please, provide couple examples to grasp the difference? Can I set two different control modes for example CTRL_MODE_POSITION_CONTROL and CTRL_MODE_VELOCITY_CONTROL at the same time?
I am very confused. Thanks