Different currents for motors in ODrive 3.6

1

Is this the correct way to set different currents for motors in Arduino?

int requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL;
if(!odrive.run_state(0, requested_state, false /*don't wait*/)) 
   return;
odrive.SetCurrent(0, 1.5);
if(!odrive.run_state(1, requested_state, false /*don't wait*/)) 
    return;
odrive.SetCurrent(1, 2.4);

For an unknown reason, the motors seem to move with the same speed.

2

Correct! Note that SetCurrent is a misnomer, it’s actually the torque setpoint – so for e.g. odrive.SetCurrent(0, 1.5), the actual current set is 1.5/axisX.motor.config.torque_constant – sorry, that’s confusing!