Hello, in filtered position control - how do i control the velocity of the motor? Is it done by changning the frequency at which i send the position stream, or can I set the velocity some how?
Thank you!
Hi! The position filter will estimate the velocity based on the derivative of the position setpoints you’re sending. You can improve the tracking accuracy by also feeding an input_vel equivalent to this derivative, see the difference between the red and the green/blue lines in the plot in the docs: Controller — ODrive Documentation 0.6.11 documentation