I’m trying to control a motor in four quadrant modes. I was able to run the calibration and position/velocity control . In the current control mode, when I set the current set-point to a value (around 1 A), it starts spinning in one direction and reaches the maximum speed, but when I flip the sign of the current, it won’t apply any torque in the opposite direction and keep spinning in the same direction. Even if I set the “axis.controller.current_setpoint” to zero, it keeps spinning and won’t stop.
I was wondering how can I apply a torque in the opposite direction? Is ODrive capable of performing four quadrant control?