For the project I am currently working, i need to create a closed-loop torque controller. I would be very interrested to know how the ODrive calculates the current. To be more precise, when I write “odrv0.axis0.motor.current_control.Iq_measured”, how does the ODrive comes up with the readings that i get.
Does the ODrive computes the power supply current to the board?
Does the ODrive calculates the current by using Clarke or Park transform on the two phases that have a shunt resistor?
Do you have any recommendations regarding the design of a torque controller?
Thank you very much in advance.