End of movement (Odrive v3.6)

1

Hello,

I’m trying to take my first steps in controlling an ODrive v3.6 via CAN bus using an STM32F microcontroller.

In Position Control Mode, what is the best way (and fast) to determine if the motor has reached the end of its movement?

Thanks!

2

Usually passthrough or POS_FILTER position mode is designed for streaming in an externally generated/calculated trajectory. If you want to do point-to-point movements, I’d recommend trajectory control, and you can monitor the trajectory_done flag.

Note that this is set to True when the trajectory reference reaches the setpoint, not the actual axis position; the assumption is that your system is tuned (and is able to compensate for external loads) such that it can always track the trajectory adequately.