Hello,

I want to use the ODrive for a model based control project with current mode. The relation from current to torque seems to be:

T = Back_emf_const*(f(phi)*i_a + f(phi-(2pi/3))*i_b + f(phi+(2pi/3))*i_c)

with f being the trapezoidal function, phi the current angle and i_x the current of each phase.

Using current mode I will be able to set one value for the current.

How can I model the output torque?

Thank you very much